A PyTorch conversion of the public pi0.5 base checkpoint.

gs://openpi-assets/checkpoints/ publishes pi05_base, pi05_droid, pi05_libero and the pi0_* family in JAX form only. There is no _pytorch variant published upstream, and ?prefix=checkpoints/pi05_base_pytorch/ returns zero objects.

Produced with examples/convert_jax_model_to_pytorch.py from RLinf/openpi (commit c5dc4b9), applied to the public JAX gs://openpi-assets/checkpoints/pi05_base. No weights were modified by the conversion.

Beyond the upstream conversion, this copy carries two small norm_stats.json files placed inside the checkpoint directory:

mavla/robofactory/norm_stats.json                 2,049 B
physical-intelligence/robotwin/norm_stats.json    3,464 B

They are dataset-specific action/state normalization statistics, not model weights. If you only want the plain converted base model, ignore or delete them.