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Add note about adapt to pi

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Michael Equi
2024-12-24 00:08:18 +00:00
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examples/aloha_real/README.md
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@@ -54,4 +54,6 @@ While we strongly recommend fine-tuning the model to your own data to adapt it t
## Training on your own Aloha dataset
OpenPI suppports training on data collected in the default aloha hdf5 format using the `scripts/aloha_hd5.py` conversion script. Once the dataset is converted, add a new `TrainConfig` to `src/openpi/training/configs.py` (see the `aloha_static_cups_open` example config) and replace repo id with the id assigned to your dataset during conversion. Before training on a new dataset, you must first compute the norm stats using `scripts/compute_norm_stats.py`.
OpenPI suppports training on data collected in the default aloha hdf5 format using the `scripts/aloha_hd5.py` conversion script. Once the dataset is converted, add a new `TrainConfig` to `src/openpi/training/configs.py` (see the `aloha_static_cups_open` example config) and replace repo id with the id assigned to your dataset during conversion. Before training on a new dataset, you must first compute the norm stats using `scripts/compute_norm_stats.py`.
NOTE: When finetuning the pi0 base model on Aloha data it is recommended that you set `adapt_to_pi=True`. This maps the state and action spaces from the original aloha data to the state and action spaces of the aloha data used to train the base model.