Integrate OpenPI π0.5 LIBERO Support with the Latest LightX2V - #1504
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Chernobyllight wants to merge 7 commits into
Open
Chernobyllight wants to merge 7 commits into
Chernobyllight wants to merge 7 commits into
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Integrate OpenPI pi0.5-LIBERO with local PyTorch inference, checkpoint conversion, runtime setup, and official single- and multi-GPU evaluation workflows.
Integrate pi0.5-LIBERO inference with local PyTorch execution, official-compatible evaluation, multi-GPU suite scheduling, and decoupled ROS2 policy/simulator nodes. Simplify the integration while preserving preprocessing, FP64 actions, and continuous policy RNG semantics.
Add official-aligned PyTorch fine-tuning with FP32 master weights, BF16 compute, EMA, strict checkpoint resume, and LIBERO preprocessing. Streamline OpenPI inference, ROS evaluation, and runtime validation while keeping generated artifacts out of Git.
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This update merges the latest LightX2V main branch and introduces a minimal OpenPI π0.5 integration for LIBERO. It supports JAX-to-PyTorch checkpoint conversion, local and multi-GPU evaluation, ROS2-decoupled policy execution, and FP32-master/BF16-compute fine-tuning with EMA and strict checkpoint resume.