| --- |
| library_name: openpi |
| tags: |
| - openpi |
| - pi0.5 |
| - lora |
| - lerobot |
| - robotics |
| --- |
| |
| # 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: |
|
|
| ```text |
| 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: |
|
|
| ```bash |
| 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`. |
|
|
