| # pi0.5 LoRA — cab task (real teleop, 63 demos) |
|
|
| **Base weights**: `gs://openpi-assets/checkpoints/pi05_droid/params` (openpi pi0.5 DROID checkpoint) |
| **Training config**: `pi05_droid_finetune_lora` (openpi) |
| **Dataset**: [`IDEAS-Lab-Northwestern/real-cab-60-droid`](https://huggingface.co/datasets/IDEAS-Lab-Northwestern/real-cab-60-droid) — real Franka teleop, 63 episodes / 53,635 frames / 15 fps, DROID schema (LeRobot v2.1) |
| **Real or sim**: **Real** teleop on a Franka Panda |
| **Prompt (language conditioning)**: |
| > "Open the cabinet, place the wooden cube inside, and close it. Keep the area around the door clear so it can swing freely on the way in and out." |
|
|
| ## Training |
|
|
| - 20,000 LoRA steps total — final checkpoint saved as step `19999` (openpi 0-indexed naming) |
| - Batch size 4 on a single **A100-SXM4-40GB** |
| - Wall time: ~2h 44m |
| - LoRA adapters: `paligemma_variant="gemma_2b_lora"`, `action_expert_variant="gemma_300m_lora"` (PaliGemma 2B + 300M action expert base frozen; only adapter params updated) |
| - `action_dim=32`, `action_horizon=16`, `pi05=True` |
| - Norm stats: reused from official DROID (`gs://openpi-assets/checkpoints/pi05_droid/assets/droid`) — appropriate since actions are Franka joint-velocity in the same regime |
|
|
| **wandb run**: https://wandb.ai/yiyanpeng2027-northwestern-university/openpi/runs/8tp8knks |
|
|
| **Contents**: only step `19999/` (params + assets + _CHECKPOINT_METADATA). `train_state/` excluded — not needed for inference or LoRA-on-top resumption. |
|
|
| ## Use this checkpoint |
|
|
| ```bash |
| # Download just this step |
| HF_HUB_DISABLE_XET=1 huggingface-cli download IDEAS-Lab-Northwestern/pi05-real-cab-60-droid-lora \ |
| --include "19999/**" \ |
| --local-dir vla_models/pi05-real-cab-60-droid-lora |
| |
| # Serve with openpi |
| uv run scripts/serve_policy.py \ |
| --policy.config=pi05_droid_finetune_lora \ |
| --policy.dir=vla_models/pi05-real-cab-60-droid-lora/19999 |
| ``` |
|
|
| ## Sibling |
|
|
| This is one of two paired LoRA fine-tunes evaluating safety awareness in pi0.5-class VLA models: |
|
|
| - This repo: **cab task** |
| - Sibling: [`IDEAS-Lab-Northwestern/pi05-real-jar-60-droid-lora`](https://huggingface.co/IDEAS-Lab-Northwestern/pi05-real-jar-60-droid-lora) — jar task |
|
|
| Both share the same TrainConfig and warm-start; differ only in dataset + prompt. |
|
|
| ## License |
|
|
| Apache-2.0 |
|
|
