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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 Baseline
+
+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 valid-index filtering (human-controlled + successful episodes only).
+
+## Experiment
+
+- **Objective:** Fine-tune PI0.5 on the micro training mix with baseline valid indices; compare later to advantaged variant.
+- **Weight init:** `weights/pi05_base/params` (pi0.5 base weights).
+- **Total steps:** 30,000 (completed)
+- **Final loss:** 0.0107 (step 29,900)
+
+## Config
+
+- **Config name:** `pi05_arx5_multitask_micro_baseline`
+- **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` to include only human-controlled, successful episodes.
+
+## Checkpoint Hashes
+
+Verify integrity with:
+
+```bash
+cd checkpoints/<step> && find params -type f | sort | xargs sha256sum | sha256sum
+```
+
+| Step | Loss | SHA-256 |
+|------|------|---------|
+| 25,000 | 0.0119 | `69ee51b80032d3a4424bd3834167fdd4d839701ab3b267c73ae6b7386922f1f8` |
+| 29,999 | 0.0107 | `450e1c86c1d95ccb7215cc3662b90c6b56fb483006b640dfa2bc70bfa2593c01` |
+
+## W&B
+
+- [Training dashboard](https://wandb.ai/pravsels/arx5_multitask/runs/gtk5f6zw)
+
+## 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_baseline")
+server = PolicyServer(config, checkpoint_path="checkpoints/<step>/params")
+```