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bibilabu

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openpi
pi0.5
robotwin
multi-embodiment
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  1. .gitattributes +22 -0
  2. README.md +24 -0
  3. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/UPLOAD_MANIFEST.json +38 -0
  4. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/_CHECKPOINT_METADATA +1 -0
  5. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_aloha_agilex_50/norm_stats.json +280 -0
  6. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_arx_50/norm_stats.json +280 -0
  7. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_franka_50/norm_stats.json +280 -0
  8. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_piper_50/norm_stats.json +280 -0
  9. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_ur5_50/norm_stats.json +280 -0
  10. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_arx_50/norm_stats.json +280 -0
  11. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_franka_50/norm_stats.json +280 -0
  12. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_piper_50/norm_stats.json +280 -0
  13. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_ur5_50/norm_stats.json +280 -0
  14. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_arx_50/norm_stats.json +280 -0
  15. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_franka_50/norm_stats.json +280 -0
  16. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_piper_50/norm_stats.json +280 -0
  17. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_ur5_50/norm_stats.json +280 -0
  18. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_arx_50/norm_stats.json +280 -0
  19. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_franka_50/norm_stats.json +280 -0
  20. pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_piper_50/norm_stats.json +280 -0
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README.md ADDED
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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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+ - pi0.5
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+ - robotwin
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+ - multi-embodiment
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+ ---
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+
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+ # Bibilabu OpenPI Checkpoints
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+
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+ This repository contains OpenPI checkpoints shared by `jsw19`.
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+
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+ ## pi05 RobotWin Multi-Embodiment Head
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+
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+ Path:
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+ `pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999`
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+
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+ Contents uploaded for default evaluation/inference:
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+ - `params/`: Orbax parameter checkpoint, loaded by `openpi.models.model.restore_params(checkpoint_dir / "params")`.
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+ - `assets/`: per-embodiment normalization stats for 16 embodiment heads.
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+ - `_CHECKPOINT_METADATA` and `UPLOAD_MANIFEST.json`.
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+
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+ 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.
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+ {
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+ "model": "pi05_robotwin_multi_embodiment_head",
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+ "experiment": "robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000",
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+ "checkpoint_step_dir": "59999",
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+ "source_checkpoint": "/share/project/xsw/openpi_subtask/checkpoints/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999",
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+ "uploaded_contents": [
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+ "params",
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+ "assets",
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+ "_CHECKPOINT_METADATA"
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+ ],
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+ "excluded_contents": {
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+ "train_state": "Excluded from this inference/default-test upload; keep local/full checkpoint for optimizer-state resume."
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+ },
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+ "training": {
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+ "batch_size": 32,
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+ "num_train_steps": 60000,
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+ "fsdp_devices": 1,
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+ "save_interval": 5000
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+ },
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+ "embodiments": [
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+ "pool_aloha_agilex_50",
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+ "pool_arx_arx_50",
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+ "pool_arx_franka_50",
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+ "pool_arx_piper_50",
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+ "pool_arx_ur5_50",
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+ "pool_franka_arx_50",
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+ "pool_franka_franka_50",
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+ "pool_franka_piper_50",
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+ "pool_franka_ur5_50",
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+ "pool_piper_arx_50",
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+ "pool_piper_franka_50",
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+ "pool_piper_piper_50",
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+ "pool_piper_ur5_50",
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+ "pool_ur5_arx_50",
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+ "pool_ur5_franka_50",
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+ "pool_ur5_piper_50"
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+ ]
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+ }
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pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/array_metadatas/process_0 ADDED
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