how to run task tag in OmniGibson. can offer a document

[9050350]

PLEASE POST QUESTIONS IN THE DISCUSSIONS TAB
i am a new guy,can help me

[wensi-ai]

Hi @9050350, could you elaborate more on your question?

[9050350]

Hi @9050350, could you elaborate more on your question?

yes
i fintuning pi0 by b1k_baseline script
XLA_PYTHON_CLIENT_MEM_FRACTION=0.9 uv run scripts/train_val.py pi0_b1k \ --exp_name="openpi_$(date +%Y%m%d_%H%M%S)" \ --overwrite \ --batch_size=64 \ --num_train_steps=50000 \ --weight_loader.params_path=gs://openpi-assets/checkpoints/pi0_base/params

now i want to run evaluation script--'Deploy finetuned checkpoint'
source .venv/bin/activate uv run scripts/serve_b1k.py --task_name=$TASK_NAME policy:checkpoint --policy.config=pi0_b1k --policy.dir=$PATH_TO_CKPT

but error is :
$ uv run scripts/serve_b1k.py --task_name=turning_on_radio policy:checkpoint --policy.config=pi0_b1k --policy.dir=/data/code/b1k-baselines/baselines/openpi/checkpoints/pi0_b1k/openpi_20251015_160515/9999 warning: The tool.uv.dev-dependenciesfield (used inpackages/openpi-client/pyproject.toml) is deprecated and will be removed in a future release; use dependency-groups.dev instead ╭─ Unrecognized options ─────────────────────────────╮ │ Unrecognized options: --task-name=turning_on_radio │ │ ────────────────────────────────────────────────── │ │ For full helptext, run serve_b1k.py --help │ ╰────────────────────────────────────────────────────╯

when i ignore task-name and run
uv run scripts/serve_b1k.py policy:checkpoint --policy.config=pi0_b1k --policy.dir=/data/code/b1k-baselines/baselines/openpi/checkpoints/pi0_b1k/openpi_20251015_160515/9999

when i Run the evaluation on BEHAVIOR,the Deploy checkpoint error:
`python OmniGibson/omnigibson/learning/eval.py policy=websocket task.name=turning_on_radio log_path=$LOG_PATH

RROR:omnigibson.learning.utils.network_utils:Error in connection from (*120.1', 51864):
fraceback (most recent call last):
File "/data/luxuanbin/code/BEHAVIOR-IK-main/OmniGibson/omnigibson/learrning/utils/network_utils.py", line 161, in _handler
action = self._policy.act(obs)
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/shared/eval_blk_wrapper.py", line 202, in act
raise e
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/sshared/eval_blk_wrapper.py", line 198, in act
action = self.policy.infer(batch)
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/policies/policy.py", line 59, in infer"
outputs = self._output_transform(outputs)
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/transforms.py", line 70, in call
data = transform(data)
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/transforms.py", line 161, in call
return apply_tree(
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/"transforms.py", line 391, in apply_tree
raise ValueError(f"Selector key {k} not found in ttree"
alueError: Selector key action not found in tree
RROR:websockets.server:connection handler failed
(raceback (most recent call last):
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/.venv/lib/python3.11/site-packages/websockets/asyncio/server.py", line 376, in conn handler
await self.handler(connection
File "/data/luxuanbin/code/BEHAVIOR-1K-main/OmniGibson/omniggibson/learning/utils/network_utils.py", line 161, in _handler
action = self._policy.act(obs)
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/shared/eval_blk_wrapper.py", line 202, in act
raise e
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/shared/eval_blk_wrapper.py", line 198, in act
action = self.policy.infer(batch)
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/ppolicies/policy.py", line 59, in infer
outputs =
self._output_transform(outputs)
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/transforms.py", line 70, in call
data = transform(data)
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/transforms.py", line 161, in call
return apply_tree(
File "/data/luxuanbin/code/blk-baselines/baselines/openpi/src/openpi/transforms.py", line 391, in apply_tree
raise ValueError(f"Selector key {k} not found in tree")
alueError: Selector key action not found in tree
NFO:websockets.server:connection rejected (200 OK)
NFO:websockets.server:connection open
`

[wensi-ai]

@9050350 could you make sure you are on the latest main branch of BEHAVIOR-1K and latest behavior branch of openpi and try again? Thanks.