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---
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library_name: openpi
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tags:
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- robotics
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- pi05
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- multitask
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---
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# Pi0.5 Sort, Stack and Drawer (equal)
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Full fine-tuning from pi05_base on three Franka single-arm tasks: cube sorting, cup stacking and drawer manipulation.
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Sampling: equal task weights (1:1:1).
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Checkpoints: 30000, 40000 and 45000. Each contains inference params, normalization assets and training state. Batch size 16; action horizon 20; temporal sampling 30 Hz.
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The 50000-step save failed due to local disk quota and is not included.
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