| # Portable RLinf evaluation model fragment. | |
| # Set PI05_FEWSHOT_CHECKPOINT_DIR to one global_step_* directory. | |
| rollout: | |
| model: | |
| model_type: openpi | |
| model_path: ${oc.env:PI05_FEWSHOT_CHECKPOINT_DIR} | |
| precision: null | |
| num_action_chunks: 5 | |
| action_dim: 7 | |
| is_lora: false | |
| lora_rank: 32 | |
| use_proprio: true | |
| num_steps: 10 | |
| add_value_head: false | |
| openpi: | |
| config_name: pi05_libero | |
| num_images_in_input: 2 | |
| noise_level: 0.5 | |
| action_chunk: 5 | |
| num_steps: 10 | |
| train_expert_only: false | |
| action_env_dim: 7 | |
| noise_method: flow_sde | |
| add_value_head: false | |
| value_after_vlm: false | |
| value_vlm_mode: mean_token | |
| detach_critic_input: null | |
| checkpoint_format: native | |
| openpi_data: | |
| norm_stats_path: ${oc.env:PI05_FEWSHOT_CHECKPOINT_DIR}/physical-intelligence/libero/norm_stats.json | |