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GeoPi0-real-robot

PyTorch pi0 policy fine-tuned on the local UR5 real-robot LeRobot-format dataset with the stage-2 foreground cross-view distillation setup:

  • dataset: ur5_lab_test_tube_camera_shifts
  • training config name: pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage2_hard
  • experiment name: pi0_ur5_real_robot_cross_attn_fg_distill_hard_stage2_2gpu
  • base camera view: observation.images.context_left_rgb
  • wrist camera view: observation.images.wrist_right_rgb
  • base model init: /scratch/yz11445/pi0_base
  • stage-1 init weights: /scratch/yz11445/tmp/openpi_cam/checkpoints/pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage1_hard/pi0_ur5_real_robot_cross_attn_fg_distill_hard_stage1/5000
  • currently included checkpoint steps: 20000, 25000, 30000

This run has completed through 30000 steps.

Included Files

  • config.json: base Pi0 model config copied from the initialization checkpoint
  • model_architecture_config.json: fine-tuned architecture settings used by this run
  • training_config_summary.json: training/data/run summary for this release
  • assets/ur5_lab_test_tube_camera_shifts/norm_stats.json: normalization statistics
  • checkpoints/<step>/: checkpoint snapshots with model.safetensors, metadata.pt, optimizer.pt, and copied assets

Inference

Serve one of the included checkpoints with:

uv run scripts/serve_policy.py policy:checkpoint \
  --policy.config=pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage2_hard \
  --policy.dir=/path/to/GeoPi0-real-robot/checkpoints/30000

Notes

  • The policy loader uses the code-defined training config pi0_ur5_real_robot_pytorch_cross_attn_fg_distill_stage2_hard from src/openpi/training/config.py.
  • This stage-2 variant keeps the foreground cross-view topology and auxiliary point head, while leaving PRoPE/ray branches disabled for the current UR5 dataset.
  • Normalization stats are loaded from assets/ur5_lab_test_tube_camera_shifts/norm_stats.json inside each checkpoint directory.
  • Tokenizer assets are not bundled in this release directory. In this codebase, the Pi0 tokenizer is loaded at runtime from external sources referenced in src/openpi/models/tokenizer.py.