{"id":1685,"date":"2026-06-04T18:16:27","date_gmt":"2026-06-04T10:16:27","guid":{"rendered":"https:\/\/www.izhuhn.cn\/?p=1685"},"modified":"2026-06-04T18:34:57","modified_gmt":"2026-06-04T10:34:57","slug":"%e5%8d%8e%e4%b8%ba%e6%98%87%e8%85%be910b%e9%83%a8%e7%bd%b2pi-0-5%e5%85%b7%e8%ba%ab%e6%99%ba%e8%83%bd%e6%a8%a1%e5%9e%8b%e7%ae%80%e8%ae%b0","status":"publish","type":"post","link":"https:\/\/www.izhuhn.cn\/index.php\/2026\/06\/04\/%e5%8d%8e%e4%b8%ba%e6%98%87%e8%85%be910b%e9%83%a8%e7%bd%b2pi-0-5%e5%85%b7%e8%ba%ab%e6%99%ba%e8%83%bd%e6%a8%a1%e5%9e%8b%e7%ae%80%e8%ae%b0\/","title":{"rendered":"\u534e\u4e3a\u6607\u817e910B\u90e8\u7f72Pi-0.5\u5177\u8eab\u667a\u80fd\u6a21\u578b\u7b80\u8bb0"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u80cc\u666f\u6982\u8ff0<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Pi-0.5 \u662f Physical Intelligence \u56e2\u961f\u63a8\u51fa\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u5177\u8eab\u667a\u80fd\u6a21\u578b\uff0c\u91c7\u7528\"\u53cc\u7cfb\u7edf\"\u67b6\u6784\u2014\u2014\u9ad8\u5c42\u8bed\u4e49\u7406\u89e3\u4e0e\u5e95\u5c42\u52a8\u4f5c\u6267\u884c\u534f\u540c\u5de5\u4f5c\uff0c\u80fd\u5728\u5b8c\u5168\u964c\u751f\u7684\u73af\u5883\u4e2d\u6301\u7eed\u6267\u884c\u590d\u6742\u4efb\u52a1 10-15 \u5206\u949f\u3002\u76f8\u6bd4 Pi-0\uff0cPi-0.5 \u901a\u8fc7\u5f02\u6784\u6570\u636e\u534f\u540c\u8bad\u7ec3\u663e\u8457\u63d0\u5347\u4e86\u5f00\u653e\u4e16\u754c\u6cdb\u5316\u80fd\u529b\uff0c\u5728\u8bad\u7ec3\u65f6\u672a\u89c1\u8fc7\u7684\u573a\u666f\u4e2d\u4e5f\u80fd\u4fdd\u6301\u4e0e\u7279\u5b9a\u73af\u5883\u8bad\u7ec3\u6a21\u578b\u76f8\u5f53\u7684\u6267\u884c\u6548\u679c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u534e\u4e3a\u6607\u817e DrivingSDK \u5df2\u5bf9 Pi-0.5 \u5b8c\u6210 NPU \u9002\u914d\uff0c\u652f\u6301\u5728 Atlas 800T A2\uff08910B\uff09\u4e0a\u8fdb\u884c\u8bad\u7ec3\u3002\u672c\u6587\u8bb0\u5f55\u5728 910B \u5355\u673a 8 \u5361\u73af\u5883\u4e0b\u7684\u5b8c\u6574\u90e8\u7f72\u4e0e\u8bad\u7ec3\u6d41\u7a0b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u73af\u5883\u51c6\u5907<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">\u786c\u4ef6\u73af\u5883<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>**\u82af\u7247**\uff1a\u534e\u4e3a\u6607\u817e 910B \u00d7 8<\/li>\n\n\n\n<li>**\u5bbf\u4e3b\u673a**\uff1aARM64\uff08aarch64\uff09\u67b6\u6784<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u8f6f\u4ef6\u7248\u672c<\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table>\n<thead><tr><th>\u7ec4\u4ef6<\/th><th>\u7248\u672c<\/th><\/tr><\/thead>\n<tbody>\n<tr><td>CANN<\/td><td>8.3.RC1<\/td><\/tr>\n<tr><td>PyTorch<\/td><td>2.7.1<\/td><\/tr>\n<tr><td>torch_npu<\/td><td>2.7.1<\/td><\/tr>\n<tr><td>Python<\/td><td>3.10<\/td><\/tr>\n<tr><td>\u57fa\u7840\u955c\u50cf<\/td><td>cann:8.1.rc1-910b-ubuntu22.04-py3.10<\/td><\/tr>\n<\/tbody>\n<\/table><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">Docker \u90e8\u7f72<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u7531\u4e8e 910B \u4e3a ARM \u67b6\u6784\uff0c\u9700\u4f7f\u7528\u534e\u4e3a\u6607\u817e\u4e13\u7528 Docker \u955c\u50cf\u3002\u57fa\u7840\u955c\u50cf\u4ece\u534e\u4e3a\u4e91 SWR \u62c9\u53d6\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>docker pull --platform=arm64 swr.cn-south-1.myhuaweicloud.com\/ascendhub\/cann:8.1.rc1-910b-ubuntu22.04-py3.10<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">**ARM64 \u539f\u751f\u73af\u5883**\u542f\u52a8\u5bb9\u5668\uff088 \u5361\u5168\u90e8\u6302\u8f7d\uff0cshm-size \u8bbe\u4e3a 500G \u4ee5\u6ee1\u8db3\u8bad\u7ec3\u9700\u6c42\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>docker run -itdu root --privileged --name=pi --net=host \\\n  --shm-size 500g \\\n  --device=\/dev\/davinci0 --device=\/dev\/davinci1 \\\n  --device=\/dev\/davinci2 --device=\/dev\/davinci3 \\\n  --device=\/dev\/davinci4 --device=\/dev\/davinci5 \\\n  --device=\/dev\/davinci6 --device=\/dev\/davinci7 \\\n  --device=\/dev\/davinci_manager --device=\/dev\/hisi_hdc \\\n  --device=\/dev\/devmm_svm \\\n  -v \/usr\/local\/Ascend\/driver:\/usr\/local\/Ascend\/driver \\\n  -v \/usr\/local\/Ascend\/firmware:\/usr\/local\/Ascend\/firmware \\\n  -v \/usr\/local\/sbin\/npu-smi:\/usr\/local\/sbin\/npu-smi \\\n  -v \/usr\/local\/sbin:\/usr\/local\/sbin \\\n  -v \/etc\/hccn.conf:\/etc\/hccn.conf \\\n  -v \/etc\/localtime:\/etc\/localtime \\\n  -v \/data\/z84185676:\/data\/ \\\n  swr.cn-south-1.myhuaweicloud.com\/ascendhub\/cann:8.1.rc1-910b-ubuntu22.04-py3.10 bash<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">**\u6ce8\u610f**\uff1a\u52a1\u5fc5\u6620\u5c04 `msnpureport` \u4ee5\u652f\u6301 NPU \u72b6\u6001\u76d1\u63a7\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">**x86 \u5bbf\u4e3b\u673a**\u901a\u8fc7 QEMU \u6a21\u62df ARM64 \u542f\u52a8\uff08\u5f00\u53d1\u8c03\u8bd5\u573a\u666f\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>docker run --name=pi -it --privileged --net=host \\\n  -v \/usr\/bin\/qemu-aarch64-static:\/usr\/bin\/qemu-aarch64-static \\\n  -v \/etc\/timezone:\/etc\/timezone:ro \\\n  -v \/etc\/localtime:\/etc\/localtime:ro \\\n  -v \/mnt1\/:\/data \\\n  swr.cn-south-1.myhuaweicloud.com\/ascendhub\/cann:8.1.rc1-910b-ubuntu22.04-py3.10 bash<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001CANN \u5347\u7ea7\u81f3 8.3.RC1<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u57fa\u7840\u955c\u50cf\u81ea\u5e26 CANN 8.1.RC1\uff0c\u9700\u8981\u5347\u7ea7\u5230 8.3.RC1\u3002\u4ece\u534e\u4e3a Ascend \u4ed3\u5e93\u4e0b\u8f7d\u4e09\u4e2a runfile \u5305\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>wget -c https:\/\/ascend-repo.obs.cn-east-2.myhuaweicloud.com\/CANN\/CANN%208.3.RC1\/Ascend-cann-toolkit_8.3.RC1_linux-aarch64.run --no-check-certificate &gt; wget-toolkit.log 2&gt;&amp;1 &amp;\nwget -c https:\/\/ascend-repo.obs.cn-east-2.myhuaweicloud.com\/CANN\/CANN%208.3.RC1\/Ascend-cann-kernels-910b_8.3.RC1_linux-aarch64.run --no-check-certificate &gt; wget-kernel.log 2&gt;&amp;1 &amp;\nwget -c https:\/\/ascend-repo.obs.cn-east-2.myhuaweicloud.com\/CANN\/CANN%208.3.RC1\/Ascend-cann-nnal_8.3.RC1_linux-aarch64.run --no-check-certificate &gt; wget-nnal.log 2&gt;&amp;1 &amp;<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f9d\u6b21\u5b89\u88c5\uff08\u6ce8\u610f kernels \u4e3a\u5168\u65b0\u5b89\u88c5\uff0c\u5176\u4f59\u4e3a\u5347\u7ea7\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u5347\u7ea7 Toolkit\n.\/Ascend-cann-toolkit_8.3.RC1_linux-aarch64.run --upgrade --install-for-all -q\nsource \/usr\/local\/Ascend\/ascend-toolkit\/set_env.sh\n# \u5b89\u88c5 NPU Kernels\uff08910B \u4e13\u7528\uff09\n.\/Ascend-cann-kernels-910b_8.3.RC1_linux-aarch64.run --install --install-for-all -q\n# \u5347\u7ea7 NNAL\uff08ATB \u63a8\u7406\u52a0\u901f\u5e93\uff09\n.\/Ascend-cann-nnal_8.3.RC1_linux-aarch64.run --upgrade --install-for-all -q<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u914d\u7f6e\u73af\u5883\u53d8\u91cf\uff0c\u786e\u4fdd\u6bcf\u6b21\u767b\u5f55\u81ea\u52a8\u751f\u6548\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>source \/usr\/local\/Ascend\/ascend-toolkit\/set_env.sh\nsource \/usr\/local\/Ascend\/nnal\/atb\/set_env.sh<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b89\u88c5\u57fa\u7840\u4f9d\u8d56\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>apt update\napt-get install git vim wget gcc cmake curl iproute2 python3-dev python3-venv bc -y<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b89\u88c5 PyTorch NPU \u7248\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>pip install torch==2.7.1\npip install torch_npu==2.7.1<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u6a21\u578b\u73af\u5883\u5b89\u88c5<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">4.1 \u62c9\u53d6 DrivingSDK<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone https:\/\/gitcode.com\/Ascend\/DrivingSDK.git\ncd DrivingSDK\/model_examples\/Pi-0.5<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">4.2 \u5b89\u88c5 LeRobot\uff08\u6607\u817e\u9002\u914d\u7248\uff09<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone https:\/\/github.com\/huggingface\/lerobot.git\ncd lerobot\ngit checkout b954337ac7c8db5ea592c0d59dfb435845d9d380\ncp -f ..\/pi05.patch .\ncp -rf ..\/test\/ .\ngit apply pi05.patch\npip install -e .\ncd ..<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">4.3 \u5b89\u88c5 Transformers\uff08\u7279\u5b9a\u5206\u652f\uff09<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone https:\/\/github.com\/huggingface\/transformers.git\ncd transformers\ngit checkout fix\/lerobot_openpi\ngit checkout dcddb970176382c0fcf4521b0c0e6fc15894dfe0\npip install -e .\ncd ..<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">4.4 \u5b89\u88c5 MindSpeed\uff08\u6607\u817e\u52a0\u901f\u5e93\uff09<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone https:\/\/gitcode.com\/Ascend\/MindSpeed.git\ncd MindSpeed\ngit checkout c357f9d2fd6f35365c9dc86f4792b8779420b667\npip install -e .\ncd ..\/lerobot<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">4.5 \u4f9d\u8d56\u51b2\u7a81\u8bf4\u660e<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b89\u88c5\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u51fa\u73b0 numpy \u7248\u672c\u51b2\u7a81\uff08te\/opencv-python-headless \u7b49\u5305\u4f9d\u8d56\u4e0d\u540c\u7248\u672c\u7684 numpy\uff09\uff0c\u4e0d\u5f71\u54cd\u8bad\u7ec3\uff0c\u53ef\u5ffd\u7565\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>te 0.4.0 requires ml-dtypes, tornado (\u672a\u5b89\u88c5\uff0c\u4e0d\u5f71\u54cd)\nopencv-python-headless requires numpy&gt;=2, but numpy 1.26.0 (\u964d\u7ea7\u540e\u53ef\u6b63\u5e38\u8fd0\u884c)\nrerun-sdk requires numpy&gt;=2 (\u8bad\u7ec3\u4e0d\u4f9d\u8d56)<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u6570\u636e\u51c6\u5907<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">5.1 \u6570\u636e\u96c6\u4e0b\u8f7d<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u8f7d koch_test \u6570\u636e\u96c6\uff08V2.1 \u683c\u5f0f\uff09\uff0c\u89e3\u538b\u540e\u9700\u8f6c\u6362\u4e3a LeRobot V3.0 \u683c\u5f0f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>gzip -d koch_test.zip<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">5.2 \u6570\u636e\u96c6\u683c\u5f0f\u8f6c\u6362<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id=\/data\/koch_test<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">5.3 \u8ba1\u7b97\u5206\u4f4d\u6570\u7edf\u8ba1<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>python src\/lerobot\/datasets\/v30\/augment_dataset_quantile_stats.py --repo-id=\/data\/koch_test<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u6b65\u9aa4\u4f1a\u8ba1\u7b97\u6570\u636e\u96c6\u7684 quantile \u7edf\u8ba1\u4fe1\u606f\uff0c\u7528\u4e8e\u8bad\u7ec3\u65f6\u7684\u52a8\u4f5c\u5f52\u4e00\u5316\u300280 \u4e2a episodes \u5904\u7406\u8017\u65f6\u7ea6 2.5 \u5c0f\u65f6\u3002\u5b8c\u6210\u540e\u6570\u636e\u96c6 meta \u4e2d\u4f1a\u5305\u542b\u7edf\u8ba1\u4fe1\u606f\uff0c\u518d\u6b21\u8fd0\u884c\u4f1a\u8df3\u8fc7\u8ba1\u7b97\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">**\u5173\u952e\u4fee\u590d**\uff1a\u5982\u679c\u6570\u636e\u96c6\u4ec5\u5b58\u653e\u5728\u672c\u5730\uff08\u4e0d\u63a8\u9001\u5230 HuggingFace Hub\uff09\uff0c\u9700\u6ce8\u91ca\u6389 `augment_dataset_quantile_stats.py` \u4e2d\u7684 `push_to_hub()` \u8c03\u7528\uff0c\u6539\u7528 `save_to_disk()` \u672c\u5730\u4fdd\u5b58\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><img decoding=\"async\" src=\"https:\/\/www.izhuhn.cn\/wp-content\/uploads\/2026\/06\/image-3b8f513c-58f5-4b73-9744-bf0545f2ea8f.png\" alt=\"push_to_hub\u4fee\u590d\u4ee3\u7801\u622a\u56fe\" \/><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u516d\u3001\u6743\u91cd\u51c6\u5907<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">6.1 Pi-0.5 \u9884\u8bad\u7ec3\u6743\u91cd<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u8f7d Pi-0.5 base \u6743\u91cd\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u4ece HuggingFace \u4e0b\u8f7d\n# https:\/\/huggingface.co\/lerobot\/pi05_base<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">6.2 PaLiGemma \u89c6\u89c9\u7f16\u7801\u5668\u6743\u91cd<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Pi-0.5 \u4f7f\u7528 PaLiGemma-3B-224 \u4f5c\u4e3a\u89c6\u89c9\u7f16\u7801\u5668\u3002\u5728\u79bb\u7ebf\u6216\u6709\u9632\u706b\u5899\u7684\u73af\u5883\u4e0b\uff0c\u6a21\u578b\u65e0\u6cd5\u81ea\u52a8\u4e0b\u8f7d\u6743\u91cd\u3002\u9700\u624b\u52a8\u4e0b\u8f7d\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>**HuggingFace**\uff1ahttps:\/\/huggingface.co\/google\/paligemma-3b-pt-224<\/li>\n\n\n\n<li>**ModelScope**\uff08\u56fd\u5185\u66f4\u5feb\uff09\uff1ahttps:\/\/modelscope.cn\/models\/google\/paligemma-3b-pt-224<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u8f7d\u540e\u653e\u5230 `\/root\/paligemma-3b-pt-224`\uff0c\u6267\u884c\u8def\u5f84\u66ff\u6362\u811a\u672c\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>bash test\/paligemma_weights_mod.sh \/root\/paligemma-3b-pt-224<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">**\u6ce8\u610f**\uff1a\u5982\u679c\u9700\u8981\u66f4\u6362 paligemma \u6743\u91cd\u8def\u5f84\uff0c\u8fd8\u9700\u4fee\u6539 `src\/lerobot\/processor\/tokenizer_processor.py` \u4e2d\u7684\u8def\u5f84\u914d\u7f6e\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e03\u3001\u8bad\u7ec3\u6267\u884c<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">7.1 \u6307\u5b9a NPU \u8bbe\u5907<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>export ASCEND_RT_VISIBLE_DEVICES=4,5,6,7<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">7.2 \u542f\u52a8\u8bad\u7ec3<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>cd \/root\/DrivingSDK\/model_examples\/Pi-0.5\/lerobot\n# \u5355\u673a8\u5361\u6027\u80fd\u6a21\u5f0f\nbash test\/train_performance.sh \/data\/koch_test \/data\/pi05_base\/\n# \u5355\u673a8\u5361\u7cbe\u5ea6\u6a21\u5f0f\nbash test\/train_full.sh \/data\/koch_test \/data\/pi05_base\/<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u8bad\u7ec3\u53c2\u6570\u8bf4\u660e\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table>\n<thead><tr><th>\u53c2\u6570<\/th><th>\u5fc5\u9009\/\u53ef\u9009<\/th><th>\u8bf4\u660e<\/th><\/tr><\/thead>\n<tbody>\n<tr><td>dataset_path<\/td><td>\u5fc5\u9009<\/td><td>koch_test \u6570\u636e\u96c6\u8def\u5f84\uff0c\u5982 `\/data\/koch_test`<\/td><\/tr>\n<tr><td>pi05_weights<\/td><td>\u5fc5\u9009<\/td><td>Pi-0.5 \u9884\u8bad\u7ec3\u6743\u91cd\u8def\u5f84\uff0c\u5982 `\/data\/pi05_base`<\/td><\/tr>\n<\/tbody>\n<\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u516b\u3001\u8bad\u7ec3\u7ed3\u679c<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u8bad\u7ec3\u65e5\u5fd7\u793a\u4f8b\uff08\u6bcf 20 \u6b65\u6253\u5370\u4e00\u6b21\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>step=20 smpl=1640 ep=2 loss=2.021 grdn=1.234 lr=2.9e-07 udpt_s=1.23 data_s=0.45\nstep=40 smpl=1K ep=3 loss=1.949 grdn=0.987 lr=7.9e-07 udpt_s=1.18 data_s=0.42\nstep=60 smpl=2K ep=5 loss=1.896 grdn=0.856 lr=1.3e-06 udpt_s=1.21 data_s=0.44<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u53ef\u89c2\u5bdf\u5230 loss \u7a33\u6b65\u4e0b\u964d\uff082.021 \u2192 1.949 \u2192 1.896\uff09\uff0clearning rate \u5904\u4e8e warm-up \u9636\u6bb5\u9010\u6b65\u4e0a\u5347\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><img decoding=\"async\" src=\"https:\/\/www.izhuhn.cn\/wp-content\/uploads\/2026\/06\/image-d8708244-a219-4f0e-afb1-d476fbd7bf3b.png\" alt=\"Pi-0.5\u8bad\u7ec3\u65e5\u5fd7\u8f93\u51fa\" \/><\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u6027\u80fd\u5bf9\u6bd4<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Atlas 800T A3\uff08910B\uff09\u5355\u673a 8 \u5361\u4e0e\u7ade\u54c1 H \u7684\u6027\u80fd\u5bf9\u6bd4\uff0830k iterations\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table>\n<thead><tr><th>\u5e73\u53f0<\/th><th>\u7cbe\u5ea6<\/th><th>Global Batchsize<\/th><th>Training Loss<\/th><th>FPS\uff08\u6bcf\u79d2\u6837\u672c\u6570\uff09<\/th><\/tr><\/thead>\n<tbody>\n<tr><td>\u7ade\u54c1 H<\/td><td>bf16<\/td><td>64<\/td><td>0.005<\/td><td>70.8<\/td><\/tr>\n<tr><td>Atlas 800T A3<\/td><td>bf16<\/td><td>128<\/td><td>0.004<\/td><td>155.1<\/td><\/tr>\n<\/tbody>\n<\/table><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u6607\u817e 910B \u5728 Pi-0.5 \u8bad\u7ec3\u4efb\u52a1\u4e0a FPS \u8fbe\u5230\u7ade\u54c1 H \u7684 **2.2 \u500d**\uff0c\u4e14\u652f\u6301\u66f4\u5927\u7684 global batchsize\uff0ctraining loss \u4e5f\u66f4\u4f4e\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e5d\u3001\u8e29\u5751\u8bb0\u5f55<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">9.1 push_to_hub \u62a5\u9519<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u6570\u636e\u96c6\u5206\u4f4d\u6570\u7edf\u8ba1\u5b8c\u6210\u540e\uff0c`augment_dataset_quantile_stats.py` \u9ed8\u8ba4\u8c03\u7528 `push_to_hub()` \u63a8\u9001\u5230 HuggingFace Hub\u3002\u5982\u679c\u672c\u5730\u8def\u5f84\u4e0d\u7b26\u5408 HF repo_id \u683c\u5f0f\uff0c\u4f1a\u62a5\u9519\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>HFValidationError: Repo id must be in the form 'repo_name' or 'namespace\/repo_name': '\/data\/koch_test'<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">**\u89e3\u51b3\u65b9\u6848**\uff1a\u6ce8\u91ca\u6389 `push_to_hub()` \u8c03\u7528\uff0c\u6539\u7528 `save_to_disk()` \u672c\u5730\u4fdd\u5b58\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">9.2 numpy \u7248\u672c\u51b2\u7a81<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b89\u88c5 MindSpeed \u65f6\u4f1a\u964d\u7ea7 numpy \u5230 1.26.0\uff0c\u4e0e opencv-python-headless\u3001rerun-sdk \u7684 numpy&gt;=2 \u8981\u6c42\u51b2\u7a81\u3002\u6b64\u51b2\u7a81\u4e0d\u5f71\u54cd Pi-0.5 \u8bad\u7ec3\uff0c\u53ef\u76f4\u63a5\u5ffd\u7565\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">9.3 torchcodec \u4e0d\u53ef\u7528<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">ARM64 \u5e73\u53f0\u7f3a\u5c11 torchcodec\uff0c\u8bad\u7ec3\u65f6\u4f1a fallback \u5230 pyav \u89e3\u7801\u89c6\u9891\uff0c\u529f\u80fd\u6b63\u5e38\u4f46\u4f1a\u6709 warning\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>'torchcodec' is not available in your platform, falling back to 'pyav' as a default decoder<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0d\u5f71\u54cd\u8bad\u7ec3\uff0c\u53ef\u5ffd\u7565\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">9.4 \u955c\u50cf\u4fdd\u5b58\u4e0e\u590d\u7528<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u914d\u7f6e\u597d\u7684\u73af\u5883\u53ef\u4ee5\u5bfc\u51fa\u4e3a Docker \u955c\u50cf\uff0c\u65b9\u4fbf\u540e\u7eed\u590d\u7528\u3002\u7528\u6237\u63d0\u4f9b\u7684\u6253\u9020\u597d\u7684\u955c\u50cf\u4e3a `pi-8.3.rc1-910b-ubuntu22.04-py3.10-20250228.tar.gz`\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u89e3\u538b\u955c\u50cf\ngzip -d pi-8.3.rc1-910b-ubuntu22.04-py3.10-20250228.tar.gz\n# \u5bfc\u5165\u955c\u50cf\ndocker load -i pi-8.3.rc1-910b-ubuntu22.04-py3.10-20250228.tar\n# \u62c9\u8d77\u5bb9\u5668\ndocker run -itdu root --privileged --name=pi --net=host \\\n  --shm-size 500g \\\n  --device=\/dev\/davinci0 ... --device=\/dev\/davinci7 \\\n  --device=\/dev\/davinci_manager --device=\/dev\/hisi_hdc \\\n  --device=\/dev\/devmm_svm \\\n  -v \/usr\/local\/Ascend\/driver:\/usr\/local\/Ascend\/driver \\\n  -v \/usr\/local\/Ascend\/firmware:\/usr\/local\/Ascend\/firmware \\\n  -v \/usr\/local\/sbin\/npu-smi:\/usr\/local\/sbin\/npu-smi \\\n  -v \/usr\/local\/sbin:\/usr\/local\/sbin \\\n  -v \/etc\/hccn.conf:\/etc\/hccn.conf \\\n  -v \/etc\/localtime:\/etc\/localtime \\\n  -v \u6a21\u578b\u6743\u91cd\u7b49\u6587\u4ef6\u7684\u6620\u5c04\u8def\u5f84:\/data\/ \\\n  pi:8.3.rc1-910b-ubuntu22.04-py3.10-20250228 bash\n# \u8fdb\u5165\u5bb9\u5668\ndocker exec -it pi bash<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u3001\u53c2\u8003\u94fe\u63a5<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>DrivingSDK Pi-0.5 \u5b98\u65b9\u6587\u6863\uff1ahttps:\/\/gitcode.com\/Ascend\/DrivingSDK\/blob\/master\/model_examples\/Pi-0.5\/README.md<\/li>\n\n\n\n<li>LeRobot \u5b98\u65b9\u4ed3\u5e93\uff1ahttps:\/\/github.com\/huggingface\/lerobot<\/li>\n\n\n\n<li>MindSpeed \u6607\u817e\u52a0\u901f\u5e93\uff1ahttps:\/\/gitcode.com\/Ascend\/MindSpeed<\/li>\n\n\n\n<li>PaLiGemma \u6743\u91cd\uff08ModelScope\uff09\uff1ahttps:\/\/modelscope.cn\/models\/google\/paligemma-3b-pt-224<\/li>\n\n\n\n<li>CANN \u8f6f\u4ef6\u5305\u4e0b\u8f7d\uff1ahttps:\/\/www.hiascend.com\/software\/cann<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u7b80\u8bb0\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001\u80cc\u666f\u6982\u8ff0 Pi-0.5 \u662f Physical Intelligence \u56e2\u961f\u63a8\u51fa\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u5177\u8eab\u667a\u80fd\u6a21\u578b\uff0c\u91c7\u7528 &#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1685","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/posts\/1685","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/comments?post=1685"}],"version-history":[{"count":2,"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/posts\/1685\/revisions"}],"predecessor-version":[{"id":1687,"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/posts\/1685\/revisions\/1687"}],"wp:attachment":[{"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/media?parent=1685"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/categories?post=1685"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.izhuhn.cn\/index.php\/wp-json\/wp\/v2\/tags?post=1685"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}