Update default pi0 ckpt_path and documentation for the new weights #162
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Signed-off-by: YunLiu <[email protected]>
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Pull Request Overview
This PR updates the default policy checkpoint path to use the new Pi0 weights and adds documentation on obtaining the latest model assets.
- Change default
policy_ckptto point at the new Pi0 directory - Add missing trailing commas for consistency in the ultrasound raytracing example
- Extend the evaluation README with instructions for downloading the four new policy models
Reviewed Changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| workflows/robotic_ultrasound/scripts/simulation/utils/assets.py | Updated default policy_ckpt to "Policies/LiverScan/Pi0" |
| workflows/robotic_ultrasound/scripts/simulation/examples/ultrasound_raytracing.py | Added trailing commas after pulse_duration in parameter dicts |
| workflows/robotic_ultrasound/scripts/simulation/evaluation/README.md | Documented how to download and reference the four new policy weights |
Comments suppressed due to low confidence (1)
workflows/robotic_ultrasound/scripts/simulation/evaluation/README.md:72
- The model names in this sentence (e.g., Pi0-400, GR00T-N1-400) differ from the code snippet below (which uses Pi0_400, GR00TN1_400). Consider aligning the naming conventions or adding a note explaining the mapping to avoid confusion.
The four policy models discussed in the evaluation (Pi0-400, Pi0-800 w/ cosmos, GR00T-N1-400, and GR00T-N1-800 w/ cosmos) can be obtained using the `i4h_asset_helper` utility.
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: YunLiu <[email protected]>
Signed-off-by: Mingxin Zheng <[email protected]>
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mingxin-zheng
approved these changes
Jun 4, 2025
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Description
Update the default policy_ckpt to use the new weights training in Isaacsim 4.5.
Also update the evalutation readme to mention the latest 4 models path.