Update README.md
Browse files
README.md
CHANGED
|
@@ -1,17 +0,0 @@
|
|
| 1 |
-
---
|
| 2 |
-
library_name: openpi
|
| 3 |
-
tags:
|
| 4 |
-
- robotics
|
| 5 |
-
- pi05
|
| 6 |
-
- multitask
|
| 7 |
-
---
|
| 8 |
-
|
| 9 |
-
# Pi0.5 Sort, Stack and Drawer (alpha1)
|
| 10 |
-
|
| 11 |
-
Full fine-tuning from pi05_base on three Franka single-arm tasks: cube sorting, cup stacking and drawer manipulation.
|
| 12 |
-
|
| 13 |
-
Sampling: dataset-shard-count weighting (alpha=1); logged weights: Sort 0.6179, Stack 0.1057, Drawer 0.2764.
|
| 14 |
-
|
| 15 |
-
Checkpoints: 30000, 40000 and 45000. Each contains inference params, normalization assets and training state. Batch size 16; action horizon 20; temporal sampling 30 Hz.
|
| 16 |
-
|
| 17 |
-
The 50000-step save failed due to local disk quota and is not included.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|