Yichen WangandDidan Deng
2a9f6aaa8e
Signed-off-by: Yichen Wang <yichen.wang@bytedance.com> Signed-off-by: Didan Deng <33117903+wtomin@users.noreply.github.com> Co-authored-by: Didan Deng <33117903+wtomin@users.noreply.github.com>
53 lines
1.8 KiB
YAML
53 lines
1.8 KiB
YAML
# π0 (Pi-Zero) VLA deploy: single diffusion stage.
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#
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# Topology (PI0_PIPELINE) is declared in vllm_omni/diffusion/models/pi0/pipeline_pi0.py.
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# π0 takes multi-camera images + a language instruction + robot state and emits
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# a continuous action chunk [chunk_size, max_action_dim] via flow matching.
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# Actions are exposed through the OpenPI realtime serving API
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# (/v1/realtime/robot/openpi); they ride in multimodal_output["actions"].
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#
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# Default: one GPU, TP=1, eager (flow matching needs no CUDA graph), bsz 1
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# (OpenPI policy serving is one observation -> one action reply). float32 to
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# match the LeRobot pi0_base reference numerics.
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pipeline: pi0
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async_chunk: false
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distributed_executor_backend: mp
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dtype: float32
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stages:
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- stage_id: 0
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devices: "0"
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max_num_seqs: 1
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enforce_eager: true
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model_class_name: Pi0Pipeline
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model_config:
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paligemma_variant: gemma_2b
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action_expert_variant: gemma_300m
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chunk_size: 50
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max_action_dim: 32
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max_state_dim: 32
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num_inference_steps: 10
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image_resolution: [224, 224]
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tokenizer_max_length: 48
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max_cameras: 3
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# Camera identities (the order the model attends to). Serving maps raw obs
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# keys onto these via image_key_map; leave image_key_map empty to match
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# incoming keys verbatim.
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image_feature_keys:
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- observation.images.base_0_rgb
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- observation.images.left_wrist_0_rgb
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- observation.images.right_wrist_0_rgb
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image_key_map: {}
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# OpenPI handshake metadata advertised to the robot client.
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policy_server_config:
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image_resolution: [224, 224]
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n_external_cameras: 1
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needs_wrist_camera: true
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needs_stereo_camera: false
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needs_session_id: false
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action_space: joint_position
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action_horizon: 50
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action_dim: 32
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max_cameras: 3
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