72 lines
2.5 KiB
Markdown
72 lines
2.5 KiB
Markdown
# LIBERO Benchmark
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This example runs the LIBERO benchmark: https://github.com/Lifelong-Robot-Learning/LIBERO
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Note: When updating requirements.txt in this directory, there is an additional flag `--extra-index-url https://download.pytorch.org/whl/cu113` that must be added to the `uv pip compile` command.
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This example requires git submodules to be initialized. Don't forget to run:
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```bash
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git submodule update --init --recursive
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```
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## With Docker (recommended)
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```bash
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# Grant access to the X11 server:
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sudo xhost +local:docker
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# To run with the default checkpoint and task suite:
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SERVER_ARGS="--env LIBERO" docker compose -f examples/libero/compose.yml up --build
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# To run with glx for Mujoco instead (use this if you have egl errors):
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MUJOCO_GL=glx SERVER_ARGS="--env LIBERO" docker compose -f examples/libero/compose.yml up --build
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```
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You can customize the loaded checkpoint by providing additional `SERVER_ARGS` (see `scripts/serve_policy.py`), and the LIBERO task suite by providing additional `CLIENT_ARGS` (see `examples/libero/main.py`).
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For example:
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```bash
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# To load a custom checkpoint (located in the top-level openpi/ directory):
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export SERVER_ARGS="--env LIBERO policy:checkpoint --policy.config pi05_libero --policy.dir ./my_custom_checkpoint"
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# To run the libero_10 task suite:
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export CLIENT_ARGS="--args.task-suite-name libero_10"
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```
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## Without Docker (not recommended)
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Terminal window 1:
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```bash
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# Create virtual environment
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uv venv --python 3.8 examples/libero/.venv
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source examples/libero/.venv/bin/activate
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uv pip sync examples/libero/requirements.txt third_party/libero/requirements.txt --extra-index-url https://download.pytorch.org/whl/cu113 --index-strategy=unsafe-best-match
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uv pip install -e packages/openpi-client
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uv pip install -e third_party/libero
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export PYTHONPATH=$PYTHONPATH:$PWD/third_party/libero
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# Run the simulation
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python examples/libero/main.py
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# To run with glx for Mujoco instead (use this if you have egl errors):
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MUJOCO_GL=glx python examples/libero/main.py
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```
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Terminal window 2:
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```bash
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# Run the server
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uv run scripts/serve_policy.py --env LIBERO
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```
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## Results
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If you want to reproduce the following numbers, you can evaluate the checkpoint at `gs://openpi-assets/checkpoints/pi05_libero/`. This
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checkpoint was trained in openpi with the `pi05_libero` config.
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| Model | Libero Spatial | Libero Object | Libero Goal | Libero 10 | Average |
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|-------|---------------|---------------|-------------|-----------|---------|
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| π0.5 @ 30k (finetuned) | 98.8 | 98.2 | 98.0 | 92.4 | 96.85
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