add binning jointpos

src/openpi/training/config.py

@@ -524,6 +524,26 @@ _CONFIGS = [
             ),
         ),
     ),
+    TrainConfig(
+        name="paligemma_binning_droid_jointpos",
+        model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=15, max_token_len=400),
+        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=[
+                    _transforms.AbsoluteActions(_transforms.make_bool_mask(7, -1)),
+                    droid_policy.DroidOutputs(),
+                ],
+            ),
+            base_config=DataConfig(
+                prompt_from_task=True,
+            ),
+            model_transforms=ModelTransformFactory(
+                fast_model_tokenizer=_tokenizer.BinningTokenizer,
+            ),
+        ),
+    ),
     TrainConfig(
         name="paligemma_fast_droid",
         model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=15),