π0.5 cloth-folding inference checkpoint
Released files
checkpoints/pi05_fold_clothes/epoch_2/
model.safetensors
metadata.pt
assets/umi_v3/norm_stats.json
This is epoch 2 of pi05_umi_v3. model.safetensors is 7,473,091,464 bytes, SHA256 3e5d551d8cbda25b84fb2fcdb610e2936fbe7668c640ec3cbabd9e9f1ba9540f. Tensor bytes and norm_stats.json are unchanged and were checked against OSS CRC64 after download.
metadata.pt was rewritten as a plain dictionary containing model/data inference settings, config name, epoch and global step. Training-storage paths, dataset roots, experiment names and training-only objects/settings were removed. The quaternion advice reader uses torch.load(..., weights_only=True). The generic model loader uses the explicit pi05_umi_v3 config and checkpoint normalization statistics; metadata is not used to restore training state. optimizer.pt is unnecessary for inference and is not included.
Load with the robot adapter
After installing the OpenPI environment described in the root README:
export PI05_PYTHON=/absolute/path/to/openpi-umi/.venv/bin/python
export TOKENIZER_DIR=/absolute/path/to/tokenizer_root
export UMI_INFER_DATA=/absolute/path/to/calibrated_cell
bash scripts/run_pi05_server.sh
The launcher defaults to checkpoints/pi05_fold_clothes/epoch_2/, selects pi05_umi_v3, creates the local transformers 4.53.2 shadow, and automatically loads assets/umi_v3/norm_stats.json. The offline tokenizer must be at TOKENIZER_DIR/paligemma-3b-pt-224/tokenizer.model; tokenizer assets and device calibration are separate requirements.
The saved model config matches the bundled inference config: π0.5, 32 padded action dimensions, horizon 50, 200 tokens, Gemma 2B / 300M action expert, and BF16. Data uses both wrist images, wxyz pose labels, rot6d model features and no inter-gripper state. Keep VLA_QUAT_PERM=0. The adapter accepts previous/current 16-D poses, restores per-chunk anchors and decodes robot targets with the configured calibration.
The server defaults to 10 denoising steps (PI05_DENOISE_STEPS). Use the checkpoint's own statistics; do not recompute them from a demonstration sample.
Validation
Download integrity, safetensors structure, metadata sanitization and model/data config wiring were checked on CPU. CUDA inference and physical-robot cloth folding were not tested in this release. See VALIDATION.md.