fix(config): add PaliGemma weight loader to RoboArena configs#913
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wadeKeith wants to merge 1 commit intoPhysical-Intelligence:mainfrom
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fix(config): add PaliGemma weight loader to RoboArena configs#913wadeKeith wants to merge 1 commit intoPhysical-Intelligence:mainfrom
wadeKeith wants to merge 1 commit intoPhysical-Intelligence:mainfrom
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Fixes Physical-Intelligence#856. RoboArena configs were missing weight_loader, causing models to initialize from scratch instead of loading pretrained PaliGemma weights. Added CheckpointWeightLoader for pi0_fast_base (FAST/binning/FSQ variants) and pi0_base (diffusion variant) to match other config patterns.
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Problem
Fixes #856.
All five
TrainConfigentries inroboarena_config.pyare missing theweight_loaderparameter. This causes them to default toNoOpWeightLoader, which initializes models from scratch instead of loading pretrained PaliGemma weights.Fix
Added
CheckpointWeightLoaderto each RoboArena config:gs://openpi-assets/checkpoints/pi0_fast_base/paramsgs://openpi-assets/checkpoints/pi0_base/paramsAlso added the missing
import openpi.training.weight_loaders as weight_loaders.Changes
src/openpi/training/misc/roboarena_config.py: Added weight_loaders import andweight_loader=parameter to all 5 TrainConfig entries.