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pi05-build-block-tower-delock-joints-only – AI Model by pravsels | AlphaNeural AI
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pi05_build_block_tower_delock_6mix_joints_only
OpenPI π₀ checkpoint for block tower stacking (joints-only action space). Trained with DeLock visual-drift regularisation (λ = 1e-4) on six mixed dAgger datasets (villekuosmanen/build_block_tower plus 1.0.0–1.4.0).
Action horizon: 50 (delta actions, 7-DOF joints only)
Default prompt: "build a block tower"
Input: 224×224 RGB image + 7-DOF joint state + text prompt
Output: 50-step action chunk
