OpenPI pi0.5 LoRA for sim2real mug into bowl

This repository stores the final OpenPI checkpoint for the pi05_clutter_libero_lora SFT run.

Dataset

This model was SFT-trained using the IDEAS-Lab-Northwestern/sim2real-mug-into-bowl dataset:

https://huggingface.co/datasets/IDEAS-Lab-Northwestern/sim2real-mug-into-bowl

Checkpoint

The uploaded checkpoint preserves the OpenPI checkpoint directory layout:

checkpoints/
  pi05_clutter_libero_lora/
    sim2real_mug_from_sim_table_25000_30k/
      30000/
        _CHECKPOINT_METADATA
        params/
        train_state/
        assets/

Use the checkpoint directory with OpenPI as:

checkpoints/pi05_clutter_libero_lora/sim2real_mug_from_sim_table_25000_30k/30000

Training Summary

Config: pi05_clutter_libero_lora
Experiment: sim2real_mug_from_sim_table_25000_30k
Dataset: IDEAS-Lab-Northwestern/sim2real-mug-into-bowl
Resume source: local sim_table_lora/25000 checkpoint
Final step: 30000
Batch size: 4
Base model family: OpenPI pi0.5 LoRA

Downloads last month: -; Downloads are not tracked for this model. How to track

Video Preview

Robotics