π0.5 AXIS joint-space policy — v6b step 750
OpenRoboto (Bittensor SN80) AXIS v1.0 · π0.5 submission.
Parent and training method
- Parent (current season champion; king-of-the-hill rules allow building on it):
pfenzi/pi0.5-8wKVKfMLCNbx@a4a5f5711261b661c2fde6fa2f067acc9a09b050 - Method: full fine-tune (no LoRA) with openpi @
15a9616a, configpi05_axis_joint(Ï€0.5, discrete state input, action horizon 10); this export is step 750. Global batch 24, AdamW (clip 1.0), flat LR 1.5e-6, EMA 0.999, 1,250 steps configured; no state-noise augmentation. - Data: rollouts generated in the official AXIS v1.0 runtime (openroboto-evaluation @ a1124074) on all 30 tasks: the parent's own checker-passing rollouts (clean and with small executed-target noise) labelled with its proposals, plus checker-passing rollouts of two public submissions on tasks where they beat the parent (MechaTrainer/pi0.5-rneQYn9nFopV @ f0a10607 on 34 and 43; jenny08311/pi0.5-TgbWfarpxG8Q @ 9ea0049e on 42), and for tasks where it verifiably helped, parent rollouts with a small time-indexed correction added to its proposals (labels = executed targets, 6.5% of frames per task). About 150k frames at 5 Hz.
- Interface unchanged: camera0 RGB + 9D joint state in, 9D absolute joint targets out;
assets/axis-v0.1-task501-runtime-v1/norm_stats.jsonis byte-identical to the parent's.
Local evaluation (official AXIS v1.0 runtime, openroboto-evaluation @ a1124074)
Mean over 30 tasks: this model 0.822, parent 0.813 (trials in brackets).
| Task | This model | Parent |
|---|---|---|
| 22 | 100% (20) | 95% (20) |
| 31 | 60% (20) | 47% (60) |
| 33 | 100% (20) | 100% (20) |
| 34 | 35% (20) | 27% (60) |
| 35 | 100% (20) | 100% (20) |
| 37 | 50% (20) | 43% (60) |
| 40 | 100% (20) | 100% (20) |
| 41 | 90% (20) | 95% (20) |
| 42 | 80% (20) | 60% (60) |
| 43 | 60% (20) | 70% (60) |
| 44 | 55% (20) | 87% (60) |
| 46 | 100% (20) | 100% (20) |
| 48 | 95% (20) | 90% (20) |
| 49 | 95% (20) | 95% (60) |
| 50 | 45% (20) | 58% (60) |
| 51 | 100% (20) | 95% (20) |
| 52 | 95% (20) | 90% (20) |
| 53 | 100% (20) | 100% (20) |
| 54 | 100% (20) | 95% (20) |
| 55 | 85% (20) | 67% (60) |
| 56 | 95% (20) | 95% (20) |
| 57 | 100% (20) | 100% (20) |
| 501 | 40% (20) | 43% (60) |
| 502 | 65% (20) | 62% (60) |
| 503 | 95% (20) | 95% (60) |
| 504 | 85% (20) | 88% (60) |
| 505 | 90% (20) | 93% (60) |
| 506 | 95% (20) | 95% (20) |
| 514 | 100% (20) | 83% (60) |
| 757 | 55% (20) | 70% (60) |
License
Derived from π0.5 (openpi) and Gemma: see LICENSE_GEMMA.txt (Gemma Terms of Use,
including the Section 3.2 use restrictions), LICENSE_OPENPI.txt and NOTICE.
Model tree for 123engineer/pi0.5-v6bs750-owPypCo44VKT
Base model
pfenzi/pi0.5-8wKVKfMLCNbx