Pi05 + PyTorch support#634

Merged

kvablack merged 35 commits intomainfrom

kevin/pi05-support-pytorch-2

Sep 8, 2025

Commits on Sep 8, 2025

Pi05 support
kvablack
committed
Fix normalize/padding ordering
kvablack
committed
add pi05 droid config

Karl Pertsch
authored and
kvablack
committed
Add Pi05-LIBERO config and update README with Pi05 info
kvablack
committed
Default max_token_len=200 for pi05
kvablack
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Add missing use_quantile_norm
kvablack
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Make it harder to forget quantile norm
kvablack
committed
Minor nits
kvablack
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Add Pi05 LIBERO config
kvablack
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Add pi05 aloha configs

pi-robot-dev
authored and
kvablack
committed
add droid lerobot doc, custom finetuning example

Karl Pertsch
authored and
kvablack
committed
LIBERO updates
kvablack
committed
Default weight decay to 0
kvablack
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Update troubleshooting
kvablack
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fix droid action space for pi05 finetuning

Karl Pertsch
authored and
kvablack
committed
Default weight decay back to 1e-10
kvablack
committed
Add diverging loss warning
kvablack
committed
Fix lora ffn
kvablack
committed
DROID training
kvablack
committed
Update LIBERO numbers
kvablack
committed
DROID fix
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Update README
kvablack
committed
add pytorch support for openpi

yaolug
authored and
kvablack
committed
remove ema, remove redundant compute for data loading, memory opt for float32, and set float32 by default for finetuning

yaolug
authored and
kvablack
committed
Fix lint errors
kvablack
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Fix conversion script
kvablack
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Install transformers_replace in serve_policy.Dockerfile
kvablack
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small fix
kvablack
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Fixes for smooth eval
kvablack
committed
Update README
kvablack
committed
fix LIBERO config
kvablack
committed
update paths
kvablack
committed
DROID readme updates

karl
authored and
kvablack
committed
Update README
kvablack
committed
Pin PyTorch and fix tests
kvablack
committed