pi0.5 base — PyTorch conversion
A PyTorch conversion of the public pi0.5 base checkpoint.
Why this mirror exists
gs://openpi-assets/checkpoints/ publishes pi05_base, pi05_droid, pi05_libero and the
pi0_* family in JAX form only. There is no _pytorch variant published upstream, and
?prefix=checkpoints/pi05_base_pytorch/ returns zero objects.
Provenance
Produced with examples/convert_jax_model_to_pytorch.py from
RLinf/openpi (commit c5dc4b9), applied to the public JAX
gs://openpi-assets/checkpoints/pi05_base. No weights were modified by the conversion.
Contains two extra normalization-statistics files
Beyond the upstream conversion, this copy carries two small norm_stats.json files placed
inside the checkpoint directory:
mavla/robofactory/norm_stats.json 2,049 B
physical-intelligence/robotwin/norm_stats.json 3,464 B
They are dataset-specific action/state normalization statistics, not model weights. If you only want the plain converted base model, ignore or delete them.
Contents
| File | Size |
|---|---|
model.safetensors |
7,233,650,408 B |
config.json |
149 B |
mavla/robofactory/norm_stats.json |
2,049 B |
physical-intelligence/robotwin/norm_stats.json |
3,464 B |
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