Hello, thank you very much for sharing this open-source repository to speed up real-time Pi0.5 model inference! This tool has greatly streamlined my model deployment workflow.
While testing the checkpoint conversion feature, I ran into an issue I’d like to report. I fine-tuned Pi0.5 with LoRA and full parameters separately on Libero using OpenPI official code, then converted both checkpoints via the realtime-vla conversion pipeline, and observed inconsistent behaviors between the two variants:
- Full-parameter finetuned model: inference results match original OpenPI outputs well
- LoRA-finetuned model: inference actions differ drastically after conversion
It seems the conversion script does not properly handle LoRA merged weights. Looking forward to any fix or guidance you can provide.
Hello, thank you very much for sharing this open-source repository to speed up real-time Pi0.5 model inference! This tool has greatly streamlined my model deployment workflow.
While testing the checkpoint conversion feature, I ran into an issue I’d like to report. I fine-tuned Pi0.5 with LoRA and full parameters separately on Libero using OpenPI official code, then converted both checkpoints via the realtime-vla conversion pipeline, and observed inconsistent behaviors between the two variants:
It seems the conversion script does not properly handle LoRA merged weights. Looking forward to any fix or guidance you can provide.