opentau 0.1.0__tar.gz

opentau-0.1.0/LICENSE

@@ -0,0 +1,508 @@
+Copyright 2024 The Hugging Face team. All rights reserved.
+Copyright 2026 Tensor Auto Inc. All rights reserved.
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
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+      "License" shall mean the terms and conditions for use, reproduction,
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+      outstanding shares, or (iii) beneficial ownership of such entity.
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+      "You" (or "Your") shall mean an individual or Legal Entity
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+      "Contribution" shall mean any work of authorship, including
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+      and issue tracking systems that are managed by, or on behalf of, the
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+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
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+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
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+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
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+      with the Work to which such Contribution(s) was submitted. If You
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+      (d) If the Work includes a "NOTICE" text file as part of its
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+      You may add Your own copyright statement to Your modifications and
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+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
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+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
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+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
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+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
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+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
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+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
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+
+## Some of lerobot's code is derived from Diffusion Policy, which is subject to the following copyright notice:
+
+MIT License
+
+Copyright (c) 2023 Columbia Artificial Intelligence and Robotics Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+## Some of lerobot's code is derived from FOWM, which is subject to the following copyright notice:
+
+MIT License
+
+Copyright (c) 2023 Yunhai Feng
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+## Some of lerobot's code is derived from simxarm, which is subject to the following copyright notice:
+
+MIT License
+
+Copyright (c) 2023 Nicklas Hansen & Yanjie Ze
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+## Some of lerobot's code is derived from ALOHA, which is subject to the following copyright notice:
+
+MIT License
+
+Copyright (c) 2023 Tony Z. Zhao
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+## Some of lerobot's code is derived from DETR, which is subject to the following copyright notice:
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
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+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
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+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
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+   Copyright 2020 - present, Facebook, Inc
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+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
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+   See the License for the specific language governing permissions and
+   limitations under the License.

opentau-0.1.0/PKG-INFO

@@ -0,0 +1,161 @@
+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
+Requires-Dist: cmake>=3.29.0.1
+Requires-Dist: datasets>=2.19.0
+Requires-Dist: deepdiff>=7.0.1
+Requires-Dist: diffusers>=0.27.2
+Requires-Dist: draccus>=0.10.0
+Requires-Dist: einops>=0.8.0
+Requires-Dist: flask>=3.0.3
+Requires-Dist: gdown>=5.1.0
+Requires-Dist: h5py>=3.10.0
+Requires-Dist: huggingface-hub[cli,hf-transfer]>=0.27.1; python_version < "4.0"
+Requires-Dist: imageio[ffmpeg]>=2.34.0
+Requires-Dist: jsonlines>=4.0.0
+Requires-Dist: numba>=0.62.0
+Requires-Dist: omegaconf>=2.3.0
+Requires-Dist: opencv-python-headless>=4.9.0
+Requires-Dist: packaging>=24.2
+Requires-Dist: av>=12.0.5
+Requires-Dist: pymunk>=6.6.0
+Requires-Dist: pynput>=1.7.7
+Requires-Dist: pyzmq>=26.2.1
+Requires-Dist: rerun-sdk>=0.21.0
+Requires-Dist: termcolor>=2.4.0
+Requires-Dist: torch<2.8.0,>=2.7.1
+Requires-Dist: torchcodec<0.5.0,>=0.4.0; sys_platform != "win32" and (sys_platform != "linux" or (platform_machine != "aarch64" and platform_machine != "arm64" and platform_machine != "armv7l")) and (sys_platform != "darwin" or platform_machine != "x86_64")
+Requires-Dist: torchvision<0.23.0,>=0.22.1
+Requires-Dist: wandb>=0.16.3
+Requires-Dist: zarr>=2.17.0
+Requires-Dist: scikit-learn>=1.7.1
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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