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[lucidrains]

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[Bombardelli]

Hi Phil, this group from China opened source their code regarding a robotic diffusion transformer. To load the pre trainee weights they were able to load the pre trained weights of SigLIP and T5 and have their code available, hope that helps with the pi0 code development, thank you for your work
https://arxiv.org/abs/2410.07864

[lucidrains]

yea thanks, i'll prob stick with pali gemma (in particular v2 that just got open sourced)