Which π0 as the base model? lerobot_pi or openpi?
#4 · closed · 3 comments
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DorayakiLin
Sorry for the late reply. We use openpi as the base model.
Aidous
> Sorry for the late reply. We use openpi as the base model. Openpi is based on jax, so you converted openpi to torch or convert VGGT to jax?
DorayakiLin
We keep vggt inference in torch, extract vggt embeddings and pass those embeddings as inputs to the jax-based openpi model.