README.md

metadata

library_name: openpi
tags:
  - robotics
  - pi0.5
  - robotwin
  - multi-embodiment

Bibilabu OpenPI Checkpoints

This repository contains OpenPI checkpoints shared by jsw19.

pi05 RobotWin Multi-Embodiment Head

Path: pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999

Contents uploaded for default evaluation/inference:

• params/: Orbax parameter checkpoint, loaded by openpi.models.model.restore_params(checkpoint_dir / "params").
• assets/: per-embodiment normalization stats for 16 embodiment heads.
• _CHECKPOINT_METADATA and UPLOAD_MANIFEST.json.

The training train_state/ item is intentionally not included in this inference upload because it mainly stores optimizer/training-resume state and is about 31G locally.