| 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 | |