The following pi0-fast weights were obtained by training on 4 A100 GPUs for 10k iterations using five tasks (2500 episodes) from the primitive-ft-dataset, shared for community reference.
The five primitive tasks used to train are: [select_fruit, select_toy, select_painting, select_poker, select_mahjong].
These tasks involve similar skills and simple actions, making them suitable for research on downstream adaptation and generalization abilities.
The training codes are available at:
https://github.com/Shiduo-zh/openpi. If any issues or bugs are encountered during training, feel free to contact our team.
