From c923c184832f904aee154ebf84ce493351bd127e Mon Sep 17 00:00:00 2001 From: Sergey Arkhangelskiy Date: Sun, 19 Jul 2026 20:44:59 +0300 Subject: [PATCH] Add `pi05_droid_jointpos` config serving absolute joint actions --- src/openpi/training/config.py | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/src/openpi/training/config.py b/src/openpi/training/config.py index 2c86aee..7aa1658 100644 --- a/src/openpi/training/config.py +++ b/src/openpi/training/config.py @@ -711,6 +711,23 @@ def __post_init__(self) -> None: ), ), ), + # DROID in absolute joint-position action space (the RoboLab benchmark policies). The model predicts + # joint deltas; AbsoluteActions adds the observed joint position back, so the served chunk is absolute + # joint positions. Checkpoint: gs://openpi-assets-simeval/pi05_droid_jointpos. + TrainConfig( + name="pi05_droid_jointpos", + model=pi0_config.Pi0Config(action_horizon=15, pi05=True), + data=SimpleDataConfig( + assets=AssetsConfig(asset_id="droid"), + data_transforms=lambda model: _transforms.Group( + inputs=[droid_policy.DroidInputs(model_type=ModelType.PI05)], + outputs=[_transforms.AbsoluteActions(_transforms.make_bool_mask(7, -1)), droid_policy.DroidOutputs()], + ), + base_config=DataConfig( + prompt_from_task=True, + ), + ), + ), # # Fine-tuning Libero configs. #