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additional policy

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This commit is contained in:
Karl Pertsch
2025-04-14 19:18:09 +00:00
parent 1ce9ffe134
commit 20d63d47b7
1 changed files with 14 additions and 0 deletions
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14
src/openpi/training/config.py
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@@ -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( TrainConfig(
name="paligemma_fast_specialist_droid", name="paligemma_fast_specialist_droid",
model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=15), model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=15),