---
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`.