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library_name: openpi
tags:
- openpi
- pi0.5
- lora
- lerobot
- robotics
- sim2real
- mug-into-bowl
---
# OpenPI pi0.5 LoRA for sim2real mug into bowl
This repository stores the final OpenPI checkpoint for the `pi05_clutter_libero_lora` SFT run.
## Dataset
This model was SFT-trained using the `IDEAS-Lab-Northwestern/sim2real-mug-into-bowl` dataset:
https://huggingface.co/datasets/IDEAS-Lab-Northwestern/sim2real-mug-into-bowl
## Checkpoint
The uploaded checkpoint preserves the OpenPI checkpoint directory layout:
```text
checkpoints/
pi05_clutter_libero_lora/
sim2real_mug_from_sim_table_25000_30k/
30000/
_CHECKPOINT_METADATA
params/
train_state/
assets/
```
Use the checkpoint directory with OpenPI as:
```text
checkpoints/pi05_clutter_libero_lora/sim2real_mug_from_sim_table_25000_30k/30000
```
## Training Summary
- Config: `pi05_clutter_libero_lora`
- Experiment: `sim2real_mug_from_sim_table_25000_30k`
- Dataset: [`IDEAS-Lab-Northwestern/sim2real-mug-into-bowl`](https://huggingface.co/datasets/IDEAS-Lab-Northwestern/sim2real-mug-into-bowl)
- Resume source: local `sim_table_lora/25000` checkpoint
- Final step: `30000`
- Batch size: `4`
- Base model family: OpenPI pi0.5 LoRA
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