From e43516e7194b02d2e8a999e7a712f4e3f57f3fb7 Mon Sep 17 00:00:00 2001 From: Karl Pertsch Date: Mon, 14 Apr 2025 20:15:23 +0000 Subject: [PATCH] add diffusion droid 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 7151782..7472dac 100644 --- a/src/openpi/training/config.py +++ b/src/openpi/training/config.py @@ -562,6 +562,20 @@ _CONFIGS = [ ), ), ), + TrainConfig( + name="paligemma_diffusion_droid", + model=pi0.Pi0Config(action_horizon=10, action_dim=8), + data=SimpleDataConfig( + assets=AssetsConfig(asset_id="droid"), + data_transforms=lambda model: _transforms.Group( + inputs=[droid_policy.DroidInputs(action_dim=model.action_dim)], + outputs=[droid_policy.DroidOutputs()], + ), + base_config=DataConfig( + prompt_from_task=True, + ), + ), + ), # # Fine-tuning Libero configs. #