hybrid-framesamp-simplesubgoal-policy

Memory-augmented VLA fine-tuned from the π₀.₅ backbone. Combines a FrameSamp visual-memory pathway with simple-subgoal symbolic conditioning.

• Backbone: π₀.₅ (openpi)
• Action space: joint_angle (8-dim)
• License: MIT

Use

Serve as an openpi policy server:

python scripts/serve_policy.py \
    --port=18001 \
    policy:checkpoint \
        --policy.dir=/path/to/this/ckpt \
        --policy.config=mme_vla_suite

The on-disk layout (after unzip 79999.zip):

_CHECKPOINT_METADATA
assets/
params/