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shell_game pi05 checkpoints
Three pi05 policies trained on the shell_game real-robot dataset (45 episodes, 7-DoF single arm plus gripper, stereo x3 cameras, 9.26 Hz measured control rate).
| run | action space | language |
|---|---|---|
shell-game-global-pi05-... |
absolute | one global task sentence |
shell-game-eef-pi05-... |
delta EEF (xyz + rot6d + gripper) | one global task sentence |
shell-game-eef-subtask-pi05-... |
delta EEF | per-step subtask label |
rot6d rather than rpy: roll wraps at +-pi and produced 269 discontinuities across the 45 episodes; unwrapping and converting to rot6d leaves 0 (std 3.08 -> 0.039).
Each directory holds params/ and assets/ for the final step. train_state/ (optimizer
moments, 31 GB per step) is deliberately not uploaded -- these load for inference, not to resume
training. assets/ carries the normalisation statistics and is required to get correct actions.
No evaluation has been run against these checkpoints yet.