| Metric | Before | After |
|---|---|---|
| Inference Speed | 1.4 Hz | 20.6 Hz |
| Latency | 714 ms | 48.5 ms |
| LIBERO Spatial | - | 98% |
1# Download model
2huggingface-cli download liangsu9988/Turbo-Pi0.5 \
3 --local-dir ~/.cache/openpi/checkpoints/pi05_libero
4
5# Run inference server
6python scripts/serve_policy.py --env=LIBERO --port=8000 \
7 policy:checkpoint --policy.config=pi05_libero| Task | Success |
|---|---|
| pick_up_black_bowl_between_plate_and_ramekin | 100% |
| pick_up_black_bowl_next_to_ramekin | 100% |
| pick_up_black_bowl_from_table_center | 100% |
| pick_up_black_bowl_next_to_cookie_box | 100% |
| pick_up_black_bowl_in_top_drawer | 100% |
| pick_up_black_bowl_on_ramekin | 80% |
| pick_up_black_bowl_on_cookie_box | 100% |
| pick_up_black_bowl_on_stove | 100% |
| pick_up_black_bowl_next_to_plate | 100% |
| pick_up_black_bowl_on_wooden_cabinet | 100% |