opentau 0.1.0__py3-none-any.whl

opentau-0.1.0.dist-info/METADATA

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+Metadata-Version: 2.4
+Name: opentau
+Version: 0.1.0
+Summary: OpenTau: Tensor's VLA Training Infrastructure for Real-World Robotics in Pytorch
+Author-email: Shuheng Liu <wish1104@icloud.com>, William Yue <williamyue37@gmail.com>, Akshay Shah <akshayhitendrashah@gmail.com>, Xingrui Gu <xingrui_gu@berkeley.edu>
+License: Apache-2.0
+Project-URL: homepage, https://github.com/TensorAuto/OpenTau
+Project-URL: issues, https://github.com/TensorAuto/OpenTau/issues
+Project-URL: huggingface, https://huggingface.co/TensorAuto
+Keywords: robotics,deep learning,pytorch
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Education
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Software Development :: Build Tools
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3.10
+Requires-Python: ==3.10.*
+Description-Content-Type: text/markdown
+License-File: LICENSE
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+Dynamic: license-file
+
+<p align="center">
+  <a href="https://www.tensor.auto">
+    <img src="assets/logo.png" alt="Logo">
+  </a>
+</p>
+
+# OpenTau - Train VLA models with state-of-the-art techniques by Tensor
+
+At Tensor, we are pushing the frontier of large foundation models for physical AI. In robot learning, a vision-language-action (VLA) model is a multimodal foundation model that integrates vision, language, and action. Today, VLA represents the leading approach for embodied AI, spanning autonomous driving, robot manipulation, and navigation.
+
+OpenTau is Tensor’s open-source training toolchain for frontier VLA models—designed to make training reproducible, accessible, and scalable. At Tensor, we believe in open research and reproducible progress for the robotics community. By open-sourcing our training toolchain, we aim to expand knowledge sharing and accelerate scientific progress that others can reproduce.
+
+Whether you use the official OpenPi codebase or LeRobot’s reimplementation, you may still be missing key components. OpenTau implements these key capabilities in one place:
+
+- Co-training on an adjustable mixture of heterogeneous datasets
+- Discrete actions for fast VLM convergence in $\pi_{0.5}$
+- Knowledge insulation between the VLM backbone and the action expert
+- Dropout in the VLM to reduce overfitting
+- A reinforcement learning pipeline described in $\pi^*_{0.6}$
+- And more...
+
+OpenTau ($\tau$) is a tool developed by *[Tensor][1]* to bridge this gap, and we also use it internally to train our proprietary in-house models. Our goal is to help you train VLAs on any dataset while fully leveraging state-of-the-art techniques. We plan to continuously upgrade this repository to keep pace with the state of the art in the robotics community.
+
+| Features                                                 | OpenPi                  | LeRobot                          | **OpenTau** |
+| -------------------------------------------------------: | :---------------------: | :------------------------------: | :---------: |
+| Co-training with Heterogeneous Datasets                  | ❌                       | ❌                                | ✅           |
+| Discrete Actions Training in $\pi_{0.5}$                 | ❌                       | ❌                                | ✅           |
+| Knowledge Insulation (KI) between VLM and Action Decoder | ❌                       | ❌                                | ✅           |
+| Dropout Layers in PaliGemma                              | ✅ (Jax) <br>❌ (PyTorch) | ❌                                | ✅           |
+| Multi-Node and Multi-GPU Training                        | ❌                       | ✅                                | ✅           |
+| Fully Functioning $\pi_{0.5}$ Checkpoint                 | ✅                       | ❌ <br> (Missing Text Embeddings) | ✅           |
+| Simulation Environments for Evaluating Models            | ❌                       | ✅                                | ✅           |
+| $\pi^{*}_{0.6}$ style Reinforcement Learning Pipeline    | ❌                       | ❌                                | ✅           |
+| Framework                                                | Jax / PyTorch           | PyTorch                          | PyTorch     |
+
+## Quick Start
+If you are familiar with LeRobot, getting started with OpenTau is very easy.
+Because OpenTau is a fork of the popular LeRobot repository, any LeRobot-compliant policy and dataset can be used directly with OpenTau.
+Check out our documentation to get started quickly.
+We provide a quick start guide to help you get started with OpenTau.
+
+For using local notebooks to train and evaluate models, find the notebooks at `notebooks/pi05_training.ipynb` and `notebooks/pi05_evaluation_only.ipynb`.
+
+For using the Google Colab notebooks to train and evaluate models, find the colab notebooks here: [pi05_training](https://colab.research.google.com/drive/1DeU0lNnEzs1KHo0Nkgh4YKBr-xu9moBM?usp=sharing) and [pi05_evaluation_only](https://colab.research.google.com/drive/1U_AyuH9WYMT4anEWvsOtIT7g01jA0WGm?usp=sharing) respectively.
+
+## Checkpoints
+We provide fully functioning $\pi_{0.5}$ checkpoints trained with high success rates. We plan to release more models in the near future.
+
+| Model Checkpoint              | Description                                                                                                   | Success Rate (%)                                                   |
+|-------------------------------|---------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------|
+| [TensorAuto/tPi0.5-libero][2] | A $\pi_{0.5}$ model checkpoint trained on the LIBERO dataset with discrete actions and knowledge insulation.  | 98.4% (10) <br> 97.6% (Goal) <br> 100% (Object) <br> 98% (Spatial) |
+| [TensorAuto/pi05_base][5]     | A $\pi_{0.5}$ model checkpoint converted from the official openpi checkpoint, with language embeddings added. | N/A                                                                |
+| More coming soon...           |                                                                                                               |                                                                    |
+
+## Acknowledgements
+
+This project builds on the $\pi$ series of [papers][3] and many other open-source efforts—especially [LeRobot][4]—for re-implementing the $\pi$ models and helping standardize training infrastructure. OpenTau extends these foundations to provide a more accessible, comprehensive toolchain for training vision-language-action agents.
+
+[1]:	https://www.tensor.ai
+[2]:	https://huggingface.co/TensorAuto/tPi0.5-libero
+[3]:	https://www.pi.website/blog
+[4]:	https://huggingface.co/lerobot
+[5]:    https://huggingface.co/TensorAuto/pi05_base

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opentau-0.1.0.dist-info/WHEEL

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+Generator: setuptools (80.9.0)
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+Tag: py3-none-any
+

opentau-0.1.0.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+opentau-train = opentau.scripts.launch_train:main