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fix(config): add PaliGemma weight loader to RoboArena configs #913

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fix(config): add PaliGemma weight loader to RoboArena configs #913

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6 changes: 6 additions & 0 deletions src/openpi/training/misc/roboarena_config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
import openpi.models.pi0_fast as pi0_fast
import openpi.models.tokenizer as _tokenizer
import openpi.policies.droid_policy as droid_policy
import openpi.training.weight_loaders as weight_loaders
import openpi.transforms as _transforms

ModelType: TypeAlias = _model.ModelType
Expand All @@ -26,6 +27,7 @@ def get_roboarena_configs():
TrainConfig(
# Trained from PaliGemma, using RT-2 / OpenVLA style binning tokenizer.
name="paligemma_binning_droid",
weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_fast_base/params"),
model=pi0_fast.Pi0FASTConfig(
action_dim=8,
action_horizon=15,
Expand All @@ -46,6 +48,7 @@ def get_roboarena_configs():
TrainConfig(
# Trained from PaliGemma, using FAST tokenizer (using universal FAST+ tokenizer).
name="paligemma_fast_droid",
weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_fast_base/params"),
model=pi0_fast.Pi0FASTConfig(action_dim=8, action_horizon=15),
data=SimpleDataConfig(
assets=AssetsConfig(asset_id="droid"),
Expand All @@ -61,6 +64,7 @@ def get_roboarena_configs():
TrainConfig(
# Trained from PaliGemma, using FAST tokenizer (tokenizer trained on DROID dataset).
name="paligemma_fast_specialist_droid",
weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_fast_base/params"),
model=pi0_fast.Pi0FASTConfig(
action_dim=8,
action_horizon=15,
Expand All @@ -81,6 +85,7 @@ def get_roboarena_configs():
TrainConfig(
# Trained from PaliGemma, using FSQ tokenizer.
name="paligemma_vq_droid",
weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_fast_base/params"),
model=pi0_fast.Pi0FASTConfig(
action_dim=8,
action_horizon=15,
Expand All @@ -101,6 +106,7 @@ def get_roboarena_configs():
TrainConfig(
# pi0-style diffusion / flow VLA, trained on DROID from PaliGemma.
name="paligemma_diffusion_droid",
weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_base/params"),
model=pi0_config.Pi0Config(action_horizon=10, action_dim=8),
data=SimpleDataConfig(
assets=AssetsConfig(asset_id="droid"),
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