From be131bfc6b9971e548a39b496a873a318e32f225 Mon Sep 17 00:00:00 2001 From: Michael Equi Date: Tue, 24 Dec 2024 00:08:18 +0000 Subject: [PATCH] Add note about adapt to pi --- examples/aloha_real/README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/examples/aloha_real/README.md b/examples/aloha_real/README.md index 5cc6ca6..a7197fd 100644 --- a/examples/aloha_real/README.md +++ b/examples/aloha_real/README.md @@ -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`. \ No newline at end of file +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. \ No newline at end of file