pi0.5 — Humanoid Benchmark
pi0.5 (openpi) checkpoints fine-tuned on Humanoid Benchmark tasks (2026-11-10 training round).
| Folder | Task | Robot |
|---|---|---|
b6-pedal-bin/ |
Pick up a chip barrel, step on the pedal bin, drop it in | Unitree G1 |
a3-fridge-open/ |
Open the fridge door | Unitree G1 |
a7-cabinet-close/ |
Close the cabinet door | Unitree G1 |
a18-pour-water/ |
Pour water from a pitcher into a glass | H2 |
Each task folder has epoch-010/ and epoch-020/ (100 demonstrations per task, 20 epochs, saved at epoch 10 and 20).
Every epoch folder is self-contained: weights, normalization statistics, training config and protocol.json
(dimensions, input/output layout, step counts, file list). Optimizer / resume state is not included.
code/ holds the adapter code used for training and inference.
Training used the Humanoid Benchmark online data augmentation spec v2 (photometric, geometric, sensor and lighting augmentation plus proprioception noise/delay/drop), with the model's own image augmentation turned off.