π0.5 policy for a UFACTORY xArm6 workstation
Fine-tuned from pi05_base (openpi) for a single third-person RGB camera (640x480, resize-with-pad to 224) and the
7-D joint-space interface: state [q1..q6 (rad), g], action chunk 10 x 7 = [Δq1..Δq6 relative to the chunk-start joint state, gripper closing score]. Normalization statistics (quantile, 7 values per array) are in assets/*/norm_stats.json.