From 28a6a2217ce7ed8bdb0b7791678cdc1859c21b7f Mon Sep 17 00:00:00 2001
From: Shuheng Liu <wish1104@icloud.com>
Date: Mon, 5 Jan 2026 14:24:21 -0800
Subject: [PATCH] docs: add config for pi0.5 evaluation on libero using HF
 checkpoint

---
 configs/examples/pi05_config.json             |   4 +-
 configs/examples/pi05_libero_eval_config.json | 160 ++++++++++++++++++
 2 files changed, 162 insertions(+), 2 deletions(-)
 create mode 100644 configs/examples/pi05_libero_eval_config.json

diff --git a/configs/examples/pi05_config.json b/configs/examples/pi05_config.json
index ce82f27..a67c71b 100644
--- a/configs/examples/pi05_config.json
+++ b/configs/examples/pi05_config.json
@@ -85,10 +85,10 @@
     "wandb": {
         "enable": true,
         "entity": "wyautox-autox",
-        "project": "tau0",
+        "project": "pi05",
         "run_id": null,
         "name": null,
-        "notes": "Dev config for pi0",
+        "notes": "Dev config for pi0.5",
         "tags": [],
         "group": null,
         "job_type": null,
diff --git a/configs/examples/pi05_libero_eval_config.json b/configs/examples/pi05_libero_eval_config.json
new file mode 100644
index 0000000..28e858c
--- /dev/null
+++ b/configs/examples/pi05_libero_eval_config.json
@@ -0,0 +1,160 @@
+{
+    "dataset_mixture": {
+        "datasets": [
+            {
+                "repo_id": "lerobot/droid_100"
+            }
+        ],
+        "weights": [
+            1.0
+        ],
+        "action_freq": 30.0,
+        "image_resample_strategy": "nearest",
+        "vector_resample_strategy": "nearest"
+    },
+    "policy": {
+        "type": "pi05",
+        "pretrained_path": "TensorAuto/tPi0.5-libero",
+        "n_obs_steps": 1,
+        "input_features": {
+            "camera0": {
+                "shape": [
+                    3,
+                    224,
+                    224
+                ],
+                "type": "VISUAL"
+            },
+            "camera1": {
+                "shape": [
+                    3,
+                    224,
+                    224
+                ],
+                "type": "VISUAL"
+            },
+            "state": {
+                "shape": [
+                    32
+                ],
+                "type": "STATE"
+            }
+        },
+        "output_features": {
+            "actions": {
+                "shape": [
+                    32
+                ],
+                "type": "ACTION"
+            }
+        },
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MIN_MAX",
+            "ACTION": "MEAN_STD"
+        },
+        "chunk_size": 10,
+        "n_action_steps": 10,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "proj_width": 1024,
+        "num_steps": 10,
+        "init_strategy": "no_init",
+        "attention_implementation": "eager",
+        "freeze_vision_encoder": false,
+        "train_expert_only": false,
+        "tokenizer_max_length": 256,
+        "discrete_action_max_length": 60,
+        "optimizer_lr": 2.5e-05,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-10,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06
+    },
+    "output_dir": "outputs/pi05_libero_eval",
+    "resume": false,
+    "seed": 1000,
+    "resolution": [
+        224,
+        224
+    ],
+    "num_cams": 2,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "action_chunk": 10,
+    "loss_weighting": {
+        "MSE": 1.0,
+        "CE": 1.0
+    },
+    "num_workers": 4,
+    "batch_size": 2,
+    "gradient_accumulation_steps": 1,
+    "dataloader_batch_size": 2,
+    "prefetch_factor": 8,
+    "steps": 100,
+    "log_freq": 1,
+    "save_checkpoint": true,
+    "save_freq": 100,
+    "use_policy_training_preset": true,
+    "trace_nans": false,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 2.5e-05,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "env": {
+        "type": "libero",
+        "task": "libero_10",
+        "fps": 30,
+        "max_parallel_tasks": 1,
+        "task_ids": [
+            8
+        ],
+        "episode_length": 520,
+        "obs_type": "pixels_agent_pos",
+        "render_mode": "rgb_array",
+        "camera_name": "agentview_image,robot0_eye_in_hand_image",
+        "init_states": true,
+        "camera_name_mapping": null
+    },
+    "eval": {
+        "n_episodes": 2,
+        "batch_size": 2,
+        "use_async_envs": true,
+        "max_episodes_rendered": 2,
+        "recording_root": "/tmp/libero-rollout",
+        "grid_size": null
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 2.5e-05,
+        "decay_lr": 2.5e-06
+    },
+    "wandb": {
+        "enable": true,
+        "entity": "wyautox-autox",
+        "project": "pi05",
+        "run_id": null,
+        "name": null,
+        "notes": "Evaluating pi0.5 on libero",
+        "tags": [],
+        "group": null,
+        "job_type": null,
+        "mode": null,
+        "allow_resume": true,
+        "disable_artifact": false
+    }
+}