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k6_pour_full deployment preset.10000, 20000, 30000.
The optimizer state is intentionally not uploaded by default because it is not needed for inference and is much larger than the model weights. Set UPLOAD_OPTIMIZER=1 when running the uploader if optimizer states are really needed.checkpoints/<step>/model.safetensors: PyTorch model weights for each uploaded step.checkpoints/<step>/metadata.pt: original checkpoint metadata from training.checkpoints/<step>/metadata.json: JSON-readable metadata summary for each step.checkpoints/<step>/assets/norm_stats.json: normalization stats used for inference.assets/norm_stats.json: normalization stats used for inference.configs/deployment.env: deployment preset used in vla_ur5.configs/*.py and configs/*.sh: source/config snapshots needed to reproduce training/inference wiring.pi05_ww_k6_pour_tcp240_noforce_full_5090WW-k610000, 20000, 30000300005010giakhuyendihoc/ur5_pour_full_tcp240_noforce8.807756561570697Pick the black and white container, place it on top of the black and red container, then pick the blue container with nuts and metal plate inside and pour the nuts and metal plate inside the black and red container until the blue container is emptyvla_ur5 / OpenPI deployment code:TASK=k6_pour_full bash deployment/scripts/serve_policy.shcheckpoints/30000 as the checkpoint directory for the default final model.pi05_ww_k6_pour_tcp240_noforce_full_5090