---
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.