From 20d63d47b705b3178d0ff1736dd294955492703a Mon Sep 17 00:00:00 2001 From: Karl Pertsch Date: Mon, 14 Apr 2025 19:18:09 +0000 Subject: [PATCH] additional policy --- src/openpi/training/config.py | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/openpi/training/config.py b/src/openpi/training/config.py index dd0fc04..7151782 100644 --- a/src/openpi/training/config.py +++ b/src/openpi/training/config.py @@ -510,6 +510,20 @@ _CONFIGS = [ ), ), ), + TrainConfig( + name="paligemma_fast_droid", + model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=15), + data=SimpleDataConfig( + assets=AssetsConfig(asset_id="droid"), + data_transforms=lambda model: _transforms.Group( + inputs=[droid_policy.DroidInputs(action_dim=model.action_dim, model_type=ModelType.PI0_FAST)], + outputs=[droid_policy.DroidOutputs()], + ), + base_config=DataConfig( + prompt_from_task=True, + ), + ), + ), TrainConfig( name="paligemma_fast_specialist_droid", model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=15),