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mli0603 merged 2 commits into from
Jan 4, 2026
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docs: fix serve_b1k.py command argument order #9

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docs: fix serve_b1k.py command argument order
fan-ziqi Dec 20, 2025
572bd6d
Fix directory name
fan-ziqi Dec 20, 2025
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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -219,7 +219,7 @@ python scripts/train_dist.py ${config_name} --exp_name=${exp_name} --overwrite

To perform RFT, you need to first deploy the finetuned checkpoint, and then rollout the episodes in the BEHAVIOR-1K Simulator. We also observe that the `pose perturbator` helps improve the robustness of the RFT Algorithm.

1. Copy the files in `openpi_comet/src/behavior/learning` to `BEHAVIOR-1K/OmniGibson/omnigibson/learning`. Be careful to the latest commit of the BEHAVIOR-1K repo and replace the files in the CheckList:
1. Copy the files in `openpi-comet/src/behavior/learning` to `BEHAVIOR-1K/OmniGibson/omnigibson/learning`. Be careful to the latest commit of the BEHAVIOR-1K repo and replace the files in the CheckList:

| Name | Description |
|-------------------------------|-------------------------------------------------------------------------------------------------------|
Expand Down Expand Up @@ -267,9 +267,9 @@ After finetuning, you can run evaluation by following the steps below:

uv run scripts/serve_b1k.py \
--task_name=$TASK_NAME \
policy:checkpoint \
--control_mode=receeding_horizon \
--max_len=32 \
policy:checkpoint \
--policy.config=pi05_b1k-base \
--policy.dir=$PATH_TO_CKPT
```
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