# openpi-InternData-A1

## Training

For detailed instructions on pretraining with InterData-A1, finetuning on real-world tasks and sim2real transfer experiments, please refer to [`docs/training.md`](docs/training.md).


## Pretrained Checkpoints
We pretrained Pi0 model in on InternData-A1 for 680k iterations, initialized from PaliGemma checkpoint. The resulting pretrained ckpt is available [here](https://huggingface.co/yuyinyang3y/interndata-a1).