Robot checkpoint archive
Public research archive of five pi0.5 experiment families. PPO+CSD is intentionally excluded. Checkpoint names denote local run iterations; BC iteration counts are not necessarily optimizer-step-equivalent to PPO.
Each checkpoint contains actor/model_state_dict/full_weights.pt for the RLinf model loader and distributed actor/dcp_checkpoint training state. These are not standalone Transformers or LeRobot exports. LoRA checkpoints include the full model state, not adapter-only exports. Loading requires the matching RLinf/OpenPI code, configuration, base assets and normalization statistics. Resume support depends on the runner; these files do not imply exact environment/RNG replay.
See manifest.json for the frozen checkpoint inventory. Local files are not deleted.