OpenPI pi0.5 LoRA on sim-table
This repository stores OpenPI checkpoints for the pi05_clutter_libero_lora
training run on IDEAS-Lab-Northwestern/sim-table.
The original run was uploaded with checkpoints at steps 3000 and 5000;
step 3000 was removed from this repo on 2026-05-01.
The run was later resumed locally from step 5000 on the same dataset and
continued through step 25000. Step 15000 has been appended to this repo.
Step 25000 is the final resumed checkpoint and was uploaded after the repo
was made public on 2026-05-01.
The checkpoint layout mirrors OpenPI's local checkpoint tree so later training checkpoints can be appended without reshaping the repo:
checkpoints/
pi05_clutter_libero_lora/
sim_table_lora/
5000/
_CHECKPOINT_METADATA
params/
train_state/
assets/
15000/
25000/
Checkpoints
| Step | Notes |
|---|---|
| 5000 | Original sim-table LoRA run; local resume source |
| 15000 | Uploaded. Resumed from step 5000 on the same IDEAS-Lab-Northwestern/sim-table dataset |
| 25000 | Uploaded. Final checkpoint after 20000 additional resumed training steps |
To add another checkpoint later, upload the new numeric step directory to the same run path. For example:
UV_CACHE_DIR=/tmp/uv-cache-sim-table \
uv run huggingface-cli upload IDEAS-Lab-Northwestern/pi05-sim-table-lora \
checkpoints/pi05_clutter_libero_lora/sim_table_lora/4000 \
checkpoints/pi05_clutter_libero_lora/sim_table_lora/4000 \
--repo-type model \
--commit-message "Add checkpoint step 4000"
The associated LeRobot dataset is IDEAS-Lab-Northwestern/sim-table.