From fb511e9894b4fa1419ab0f2b376348a44715e26e Mon Sep 17 00:00:00 2001 From: Aryan Rahar Date: Fri, 12 Sep 2025 09:30:17 +0000 Subject: [PATCH] libero: set use_quantile_norm=True in LIBERO presets (fix #627) --- src/openpi/training/config.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/openpi/training/config.py b/src/openpi/training/config.py index a59cd1cf67..a691332f10 100644 --- a/src/openpi/training/config.py +++ b/src/openpi/training/config.py @@ -702,7 +702,7 @@ def __post_init__(self) -> None: model=pi0_fast.Pi0FASTConfig(action_dim=7, action_horizon=10, max_token_len=180), data=LeRobotLiberoDataConfig( repo_id="physical-intelligence/libero", - base_config=DataConfig(prompt_from_task=True), + base_config=DataConfig(prompt_from_task=True, use_quantile_norm=True), extra_delta_transform=True, ), # Note that we load the pi0-FAST base model checkpoint here. @@ -718,7 +718,7 @@ def __post_init__(self) -> None: ), data=LeRobotLiberoDataConfig( repo_id="physical-intelligence/libero", - base_config=DataConfig(prompt_from_task=True), + base_config=DataConfig(prompt_from_task=True, use_quantile_norm=True), extra_delta_transform=True, ), weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi0_fast_base/params"),