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@@ -33,3 +33,16 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+checkpoints/25000/params/ocdbt.process_0/d/4f282e148cf38f8b058b323a8a1120fd filter=lfs diff=lfs merge=lfs -text
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README.md

@@ -0,0 +1,72 @@
+---
+license: apache-2.0
+tags:
+  - robotics
+  - pi0
+  - arx5
+  - multitask
+  - openpi
+---
+
+# pi0.5 ARX5 Multitask Micro Advantaged
+
+Fine-tuned [pi0.5](https://github.com/Physical-Intelligence/openpi) checkpoint for multi-task manipulation with ARX5 arms, trained on a 14-dataset micro mix with advantaged valid-index filtering.
+
+## Experiment
+
+- **Objective:** Fine-tune PI0.5 on the micro training mix with advantaged valid indices; compare to baseline variant.
+- **Weight init:** `weights/pi05_base/params` (pi0.5 base weights).
+- **Total steps:** 30,000 (completed)
+- **Final loss:** 0.0080 (step 29,900)
+
+## Config
+
+- **Config name:** `pi05_arx5_multitask_micro_advantaged`
+- **Model:** pi0.5 (`pi05=True`, `action_horizon=50`)
+- **Batch size:** 36
+- **Learning rate:** 5e-5 cosine decay (1k warmup, decay over 100k steps)
+- **Optimizer:** AdamW (gradient clip norm 1.0)
+- **EMA decay:** 0.999
+- **Delta actions:** enabled (delta joints, absolute grippers)
+- **Per-timestep action normalization:** enabled (auto from delta actions)
+- **Action space:** 14D bimanual (single-arm 7D padded to 14D with loss masking)
+
+## Dataset
+
+14 LeRobot datasets from `training_mix_micro.json` (all `villekuosmanen/*` repos). Filtered by `valid_indices.txt` (advantaged indices).
+
+## Checkpoint Hashes
+
+Verify integrity with:
+
+```bash
+cd checkpoints/<step> && find params -type f | sort | xargs sha256sum | sha256sum
+```
+
+| Step | Loss | SHA-256 |
+|------|------|---------|
+| 25,000 | 0.0089 | `1648c67a7ac44d377f28f316384bdcab72af4422237f9f9485e1e77a02c6a65c` |
+| 29,999 | 0.0080 | `aff337d89dd426388303855ed8fca784f5b5615b33cbad14f26dfbe8688caa88` |
+
+## W&B
+
+- [Training dashboard](https://wandb.ai/pravsels/openpi/runs/jik4rmpl)
+
+## Repo Structure
+
+```
+assets/                      # Norm stats, valid_indices.txt, training_mix_micro.json
+checkpoints/<step>/params/   # Model weights (params only)
+README.md                    # This file
+TRAINING_LOG.md              # Training log
+```
+
+## Usage
+
+```python
+from openpi.training.config import get_config
+from openpi.serving.policy_server import PolicyServer
+
+config = get_config("pi05_arx5_multitask_micro_advantaged")
+server = PolicyServer(config, checkpoint_path="checkpoints/<step>/params")
+```

TRAINING_LOG.md

@@ -0,0 +1,47 @@
+# Training Log — ARX5 Multitask Micro Advantaged
+
+## Mode
+- run_type: experiment
+- objective: Fine-tune PI0.5 on the micro training mix (14 datasets) with advantaged valid-index filtering; compare to baseline variant.
+
+## Config
+- config: `pi05_arx5_multitask_micro_advantaged`
+- exp_name: `micro_advantaged_v1`
+- dataset: `training_mix_micro.json` — 14 `villekuosmanen/*` LeRobot repos
+- key settings: 14D bimanual action space (7D padded), delta actions (delta joints, absolute grippers), per-timestep action normalization, 30k steps, batch_size=36, lr=5e-5 cosine (1k warmup), from pi0.5 base weights
+
+## Training Dynamics
+
+| Step | Loss | Grad Norm |
+|------|------|-----------|
+| 0 | 0.1770 | 2.3837 |
+| 5,000 | 0.0215 | 0.1070 |
+| 10,000 | 0.0146 | 0.0805 |
+| 15,000 | 0.0118 | 0.0665 |
+| 20,000 | 0.0101 | 0.0620 |
+| 25,000 | 0.0089 | 0.0551 |
+| 29,900 | 0.0080 | 0.0540 |
+
+- loss_one_liner: Steep drop from 0.18 to ~0.02 in the first 5k, then steady decline to 0.008 by 30k; lower final loss than baseline (0.0080 vs 0.0107).
+
+## W&B
+- synced: https://wandb.ai/pravsels/openpi/runs/jik4rmpl
+
+## Checkpoint Hashes
+
+Verify with:
+
+```bash
+cd checkpoints/<step> && find params -type f | sort | xargs sha256sum | sha256sum
+```
+
+| Step | SHA-256 |
+|------|---------|
+| 25,000 | `1648c67a7ac44d377f28f316384bdcab72af4422237f9f9485e1e77a02c6a65c` |
+| 29,999 | `aff337d89dd426388303855ed8fca784f5b5615b33cbad14f26dfbe8688caa88` |
+
+## Status
+- Started: Sunday, Mar 29th, 2026
+- Completed: Sunday, Mar 29th, 2026
+- Runtime: 04:52:03
+- Published checkpoints: 25k, 29999 (params-only)

assets/norm_stats.json

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+{
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+}

assets/training_mix_micro.json

@@ -0,0 +1,13 @@
+[
+    "villekuosmanen/agilex_arrange_word_2024",
+    "villekuosmanen/agilex_cocktail_sunset_pineapple",
+    "villekuosmanen/agilex_coffee_cup_on_PC",
+    "villekuosmanen/agilex_handover_pan",
+    "villekuosmanen/bin_pick_pack_coffee_capsules_continuous",
+    "villekuosmanen/dAgger_build_block_tower_1.4.0",
+    "villekuosmanen/dAgger_pack_toothbrush_Nov26",
+    "villekuosmanen/fold_teat_towel_desk",
+    "villekuosmanen/measure_cat_food",
+    "villekuosmanen/pick_1_snackbar",
+    "villekuosmanen/pick_coffee_prop_center_merged"
+]

checkpoints/25000/params/_METADATA

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checkpoints/25000/params/array_metadatas/process_0

@@ -0,0 +1 @@
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checkpoints/29999/params/array_metadatas/process_0

@@ -0,0 +1 @@
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