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After fixing a few bugs with inference code, I finally have a working pi0 set up! Fine-tuned overnight on single task data, it learns rough controls and no longer outputs unsafe actions. But mastering the task and form factor will require much more compute. Stay tuned!

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Ville🤖

2,645 subscribers

33,242 просмотров • 1 год назад •via X (Twitter)

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Комментарии: 11

Фото профиля Ville 🤖
Ville 🤖1 год назад

vibe checks - still struggling with instruction following like most VLAs. (Instruction comes from text, the speech is just for the demo and the robot won’t listen to that)

Фото профиля opensourceCM
opensourceCM1 год назад

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Фото профиля Stone Tao
Stone Tao1 год назад

success rate / how many fine tuning demos?

Фото профиля Ville 🤖
Ville 🤖1 год назад

0% I need to fine-tune much longer to do justice for this model 😅

Фото профиля Vaishak V Kumar
Vaishak V Kumar1 год назад

What changed?

Фото профиля Ville 🤖
Ville 🤖1 год назад

fixed several bugs with the infra and re-trained the model - not 100% sure what parts mattered and what didn't robotics is hard

Фото профиля David Bar
David Bar1 год назад

Cool

Фото профиля SuperMario
SuperMario1 год назад

Great work!

Фото профиля Eugene Mironov
Eugene Mironov1 год назад

Looks cool, looking forward to try it too

Фото профиля Ville 🤖
Ville 🤖1 год назад

I'm looking forward to trying your RL code once ready!

Фото профиля Pierre-Louis Biojout
Pierre-Louis Biojout1 год назад

How much episodes in your dataset? Given the size of the model, without some little tricks you need a decent amount of datapoints

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