dgrachev/framepick_pi05_subtask_base

framepick base checkpoint (pi0.5 + subtask + frame re-expression)

Weights are bit-identical to lerobot/pi05_base. The checkpoint self-describes the framepick architecture (LeRobot plugin lerobot_policy_framepick): config.json has type: framepick, and policy_preprocessor.json carries the subtask tokenizer step plus the framepick step with a NEUTRAL frame selector. Experiment knobs (which frames, selection strategy) live in the training config, e.g. --policy.frame_selector.assignment='{"arm": "image2"}'.

Generated by lerobot_policy_pi05_subtask/scripts/prepare_base_checkpoint.py --policy-type framepick. See also dgrachev/pi05_subtask_base (same weights, pi05_subtask architecture) and the dgrachev/libero_extrinsics dataset.