UMIbenchmark/UMI-Benchmark-v1-checkpoints

UMI-Benchmark v1 Checkpoints

This private staging package contains one checkpoint per task for each supported model family.

Models:

• OpenPI pi0
• OpenPI pi0.5
• DreamZero

Tasks:

• dual_arm_task1
• dual_arm_task2
• dual_arm_task3
• dual_arm_task4
• dual_arm_task5
• dual_arm_task6
• single_arm_task1
• single_arm_task2
• single_arm_task3
• single_arm_task4

OpenPI config names are normalized as pi0_<task> and pi05_<task>. OpenPI checkpoint paths use public step 60000. DreamZero checkpoint metadata records the exported training step. Single-arm DreamZero checkpoints use 40000 steps, except single_arm_task4 which uses 20000 steps. Checkpoints trained with 4-card and 8-card setups are equivalent for release use; the distinction only reflects the training parallelism/resource configuration.

The release manifest is in metadata/checkpoint_manifest.json.