Pi05 RoboTwin
Original pi0.5 (history_action_conditioning=False). Fine-tuned on the merged RoboTwin-Clean LeRobot dataset.
Checkpoints
checkpoints/30000: training step 30,000 (3w)checkpoints/59999: final checkpoint of the 60,000-step run (6w)
Each checkpoint contains inference parameters under params/ and normalization statistics under assets/openpi_robotwin_clean_merged/norm_stats.json. Optimizer and training state are intentionally omitted.
Training configuration
- Base model: pi0.5
- Action horizon: 50
- Action dimension: 32
- Dataset:
openpi_robotwin_clean_merged - Seed: 42
- Precision: bfloat16
- Fine-tuning steps: 60,000
Use a checkpoint directory (for example checkpoints/59999) as the OpenPI checkpoint path.