From 650b02e4ca4119b9025bf265ce1b4ab23c61fb2d Mon Sep 17 00:00:00 2001 From: Karl Pertsch Date: Thu, 17 Apr 2025 13:19:48 +0000 Subject: [PATCH] add diffusion jointpos 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 7472dac..b3b4884 100644 --- a/src/openpi/training/config.py +++ b/src/openpi/training/config.py @@ -476,6 +476,20 @@ _CONFIGS = [ ), ), ), + TrainConfig( + name="pi0_droid_jointpos", + model=pi0.Pi0Config(action_horizon=10), + data=SimpleDataConfig( + assets=AssetsConfig(asset_id="droid"), + data_transforms=lambda model: _transforms.Group( + inputs=[droid_policy.DroidInputs(action_dim=model.action_dim)], + outputs=[_transforms.AbsoluteActions(_transforms.make_bool_mask(7, -1)), droid_policy.DroidOutputs()], + ), + base_config=DataConfig( + prompt_from_task=True, + ), + ), + ), TrainConfig( name="pi0_fast_droid_jointpos", model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=10),