Dengliming/StreamPIReal6_3w

30k candidate: default checkpoint is checkpoints/29999. L40 and physical-robot acceptance are still pending. Do not publish or treat as frozen.

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license: apache-2.0 library_name: jax tags: - robotics - vision-language-action - pi0.5 - stream-pi - piper-x - real-robot

StreamPI Piper-X Real6 — 20k

StreamPI / π0.5 checkpoint fine-tuned for six Piper-X dual-arm real-robot manipulation tasks.

This release packages the 20,000-step JAX inference checkpoint together with its matching normalization statistics, deployment code, evaluation utilities, and source framework.

Release contents

• Complete StreamPI/OpenPI source framework
• 20,000-step JAX inference parameters
• Matching real_piper_x_6tasks normalization statistics
• WebSocket policy server and Piper-X robot client
• Offline replay-evaluation scripts and saved results
• Release manifest and provenance metadata
• Archived upstream StreamPI README

Model overview

Field	Value
Base policy	π0.5
Temporal extension	StreamPI
Training framework	JAX
Robot	Piper-X dual-arm platform
Training domain	Real-robot manipulation
Number of tasks	6
Released training step	20,000
Dataset/config identity	real_piper_x_6tasks
Intended use	Research, offline evaluation, and controlled real-robot deployment

Observation and action interface

The checkpoint must be used with the same feature ordering, camera naming, normalization statistics, and control convention used during training.

Component	Expected content
External camera	cam_high
Wrist cameras	cam_left_wrist, cam_right_wrist
Left-arm state/action	left_joint_1..6, left_gripper
Right-arm state/action	right_joint_1..6, right_gripper
Normalization	Bundled real_piper_x_6tasks statistics
Policy transport	WebSocket policy server/client

Do not substitute normalization statistics from another robot, dataset, or checkpoint. Even when tensor dimensions match, a different joint order, gripper convention, image key, or normalization range can produce invalid robot actions.

Recommended validation order

Before enabling torque on the physical robot:

1. Verify checkpoint loading and configuration resolution.
2. Confirm all three camera streams and their expected names.
3. Confirm state and action dimensions, joint order, units, and gripper range.
4. Load the bundled real_piper_x_6tasks normalization statistics.
5. Run the packaged offline replay evaluation.
6. Inspect predicted actions for NaN, Inf, discontinuities, and range violations.
7. Test with torque disabled or in a constrained low-speed environment.
8. Enable real-robot execution only after all safety checks pass.

Deployment notes

The WebSocket server and robot client must use the same checkpoint, configuration, normalization assets, observation schema, and action-chunk execution convention.

For reproducibility, use the environment and launch information recorded in the packaged manifest and provenance metadata. Paths from the original training machine may need to be replaced with local release paths.

Key packaged files

• assets/pi05_calvin/InternRobotics/InternData-Calvin_ABC/norm_stats.json
• assets/pi05_libero/physical-intelligence/libero/norm_stats.json
• assets/streampi05/unified_robodojo_all_arx_x5/norm_stats.json
• checkpoints/20000/assets/real_piper_x_6tasks/norm_stats.json
• deployment/piperx_client.py
• evaluation/scripts/offline_continuous_replay.py
• evaluation/scripts/offline_replay_eval_30.py
• evaluation/scripts/offline_replay_smoke.py
• lerobot/examples/2_evaluate_pretrained_policy.py
• lerobot/lerobot/configs/eval.py
• lerobot/lerobot/scripts/eval.py
• packages/openpi-client/src/openpi_client/websocket_client_policy.py
• src/openpi/serving/websocket_policy_server.py
• third_party/aloha/aloha_scripts/replay_episodes.py
• third_party/libero/libero/lifelong/evaluate.py

Upstream documentation

The original StreamPI project README is preserved at:

• docs/UPSTREAM_STREAMPI_README.md

Use the upstream document for general StreamPI/OpenPI architecture and installation information. This model card describes the Piper-X Real6 checkpoint and its release-specific constraints.

Intended use

This release is intended for:

• StreamPI and π0.5 research
• Offline inference and replay evaluation
• Reproduction of the Piper-X Real6 experiments
• Controlled deployment on a compatible Piper-X dual-arm platform
• Analysis of temporal conditioning in vision-language-action policies

Limitations

• The checkpoint was trained on a limited set of six real-robot tasks.
• Performance outside the training distribution is not guaranteed.
• Camera placement, lighting, workspace geometry, embodiment calibration, and action conventions can materially affect behavior.
• Offline replay consistency does not guarantee closed-loop task success.
• Real-robot execution requires independent collision, workspace, velocity, and emergency-stop safeguards.

Safety

This model can generate unsafe or out-of-distribution robot commands. Deployment must include external safety controls such as joint-limit checks, workspace constraints, velocity and acceleration limits, collision monitoring, and a hardware emergency stop.

Never treat the learned policy as the sole safety layer.

License

Apache-2.0. Third-party components and upstream dependencies remain subject to their respective licenses.

Piper-X Real6 deployment

This release contains the StreamPI Piper-X policy trained for six real-robot tasks.

Runtime configuration:

config: pi05_stream3_piper_x_real_6tasks
checkpoint: checkpoints/20000
asset: real_piper_x_6tasks
history: 3
predict: 10
execute: 5
state_dim: 14
action_dim: 14

Verify the release:

export OPENPI_PYTHON=/path/to/python
bash scripts/verify_release.sh

Run a synthetic loopback test without robot hardware:

export OPENPI_PYTHON=/path/to/python
export LOOPBACK_GPU=0
export LOOPBACK_PORT=18080

bash scripts/test_loopback.sh

Start the policy server:

export OPENPI_PYTHON=/path/to/python
export POLICY_GPU=0
export POLICY_PORT=8000

bash scripts/start_policy_server.sh

Before enabling robot torque, complete policy warm-up and read HANDOFF.md, especially the client protocol and safety requirements.