Add checkpoint manifest

README.md

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+---
+library_name: openpi
+tags:
+  - openpi
+  - pi0.5
+  - lora
+  - lerobot
+  - robotics
+---
+
+# OpenPI pi0.5 LoRA on sim-table
+
+This repository stores OpenPI checkpoints for the `pi05_clutter_libero_lora`
+training run on `IDEAS-Lab-Northwestern/sim-table`.
+
+The checkpoint layout mirrors OpenPI's local checkpoint tree so later training
+checkpoints can be appended without reshaping the repo:
+
+```text
+checkpoints/
+  pi05_clutter_libero_lora/
+    sim_table_lora/
+      3000/
+        _CHECKPOINT_METADATA
+        params/
+        train_state/
+        assets/
+```
+
+To add another checkpoint later, upload the new numeric step directory to the
+same run path. For example:
+
+```bash
+UV_CACHE_DIR=/tmp/uv-cache-sim-table \
+uv run huggingface-cli upload IDEAS-Lab-Northwestern/pi05-sim-table-lora \
+  checkpoints/pi05_clutter_libero_lora/sim_table_lora/4000 \
+  checkpoints/pi05_clutter_libero_lora/sim_table_lora/4000 \
+  --repo-type model \
+  --commit-message "Add checkpoint step 4000"
+```
+
+The associated LeRobot dataset is `IDEAS-Lab-Northwestern/sim-table`.

checkpoint_manifest.json

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+{
+  "repo_id": "IDEAS-Lab-Northwestern/pi05-sim-table-lora",
+  "repo_type": "model",
+  "created_utc": "2026-04-29T19:41:54Z",
+  "source_git_commit": "650c5b0283a49c42784fb5055a0507da2c6d347d",
+  "train_config_name": "pi05_clutter_libero_lora",
+  "experiment_name": "sim_table_lora",
+  "dataset_repo_id": "IDEAS-Lab-Northwestern/sim-table",
+  "checkpoint_base_path": "checkpoints/pi05_clutter_libero_lora/sim_table_lora",
+  "checkpoints": [
+    {
+      "step": 3000,
+      "path": "checkpoints/pi05_clutter_libero_lora/sim_table_lora/3000",
+      "local_source": "checkpoints/pi05_clutter_libero_lora/sim_table_lora/3000",
+      "size": "9.0G",
+      "files": 27
+    }
+  ],
+  "model": {
+    "family": "pi0.5",
+    "action_dim": 32,
+    "action_horizon": 16,
+    "paligemma_variant": "gemma_2b_lora",
+    "action_expert_variant": "gemma_300m_lora",
+    "discrete_state_input": false
+  },
+  "training": {
+    "num_train_steps": 20000,
+    "batch_size": 4,
+    "ema_decay": null,
+    "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params"
+  }
+}