tangger/issacdataengine

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rich annotations & update open-pi fsdp explanations

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multi-node openpi commit

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packages/openpi-client

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rich annotations & update open-pi fsdp explanations

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multi-node openpi commit

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CONTRIBUTING.md

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README.md

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README.md

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.

Pretrained Checkpoints

We pretrained Pi0 model in on InternData-A1 for 680k iterations, initialized from PaliGemma checkpoint. The resulting pretrained ckpt is available here.