droidfull8 ฯ0.5: centralised control on all of DROID (openpi pi05_full_droid_finetune)
The matched centralised control for droidfull8 FedAvg and droidfull8 ACCORD-C. Official openpi JAX ฯ0.5, full fine-tune from pi05_base with openpi's own published full-DROID recipe:
- Data: the RLDS release
droid/1.0.1, successful episodes, openpi's idle-frame filter: 78,864 episodes, 22.13 M frames, read by openpi's RLDS pipeline (250k-frame shuffle buffer). - Model: joint-position actions in 16-step chunks.
- Optimiser: AdamW lr 5e-5 (1k warmup, then constant), clip 1.0, EMA 0.99, 100k steps ร batch 256 = 25.6 M samples.
- Training: one model on all the data, batch 256 data-parallel over 8 GPUs. Same data path, norm stats, optimiser, EMA and checkpoint format as the FedAvg run: the two differ only in the aggregation.
Norm stats are the joint-position stats of pi05_droid_jointpos (also used by every droidfull8 run; reproducible from the public data within ~1 %). The official ฯ0.5-DROID joint-position checkpoint (gs://openpi-assets-simeval/pi05_droid_jointpos) is a reference only: its training recipe is not published.
| Path | What |
|---|---|
openpi/ |
official openpi checkpoint (params/ = EMA weights, assets/droid/norm_stats.json); serve it with plain openpi |
openpi_r200/, openpi_r320/ |
the same at 50k and 80k steps (rounds 200 / 320, as in the FedAvg repo) |
server_round_0400.pt |
decent-vla checkpoint (weights + EMA shadow) + openpi_pi05_droidfull8_cent_local.yaml + training log |
(Files arrive as a pull request from the training run; see Community โ Pull requests until it is merged.)
Evaluate anywhere: RoboLab or a real DROID robot
hf download DecentVLA/droidfull8_pi05_cent --include "openpi/*" --local-dir droidfull8_cent
# RoboLab's own openpi server (xuningy/openpi fork, installed per NVLabs/RoboLab policies/pi0_family/README.md):
XLA_PYTHON_CLIENT_MEM_FRACTION=0.5 uv run scripts/serve_policy.py --port 8000 policy:checkpoint \
--policy.config=pi05_droid_jointpos --policy.dir=$(realpath droidfull8_cent/openpi)
- RoboLab:
uv run python policies/pi0_family/run.py --policy pi05 --headless --remote-host <server> --remote-port 8000
Runbook and code: decent-vla examples/droid/README_droidfull8.md step 9 (tag droidfull8-v4).