TC-π0.5 weights
Versioned model assets for susongyuan/TC-pi0.5.
| Directory | Model | Task coverage |
|---|---|---|
cook_hot_dogs/step5000 |
TC-π0.5 full fine-tuned checkpoint | cook_hot_dogs |
pi0.5-behaviour-base |
π0.5-behaviour-base, unchanged PT50 | 50 BEHAVIOR tasks |
common |
PaliGemma tokenizer | shared inference asset |
Evaluation
Public instances301–310, action seed42, chunk32, official task termination and Q.
| Model / input | Success | Mean Q |
|---|---|---|
| PT50 base / RGB | 2/10 (20%) | 0.20 |
| TC-π0.5 / RGB + Oracle graphs, full fine-tuning | 5/10 (50%) | 0.55 |
The selected checkpoint is cumulative step5000:4970 formal updates ×48 sequences, approximately4.613 epochs. Original weights, config, normalization and metadata bytes are preserved and covered by release_manifest.json. The code release pins this repository's exact commit; follow its download and inference commands.
Base source: sunshk/openpi_comet_pytorch, revision 5a489fe50fdc8e256533c8c611dfd60c247520cf, folder pi05-b1kpt50-cs32. Renaming the mirror does not change the base model. Upstream model and asset usage terms remain applicable.
Verification: a fresh GitHub clone and fresh Hub download passed GPU inference in the tested dependency environment. See release_verification.json.
Clean-environment verification: a new isolated Python3.11 installation passed dependency checks, GPU model loading and full32×23 synthetic action generation. The complete chunk matched the original environment exactly (maximum difference0). The code release preserves the exact tested PyAV14.4.0 binary as a SHA256-pinned release asset. See release_verification.json.