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saifahmad123/
pi05-franka-graspnet-abs-frozen-siglip

Name: pi05-franka-graspnet-abs-frozen-siglip
Availability: InStock

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pi05-franka-graspnet-abs-frozen-siglip

openpi π₀.₅ policy checkpoint.

Train config: pi05_Franka_GRASPNET_abs_frozen_siglip
Experiment: GRASPNET_abs_frozen_siglip
Checkpoints in this repo:
step_30000/
step_40000/

Each folder is one training step and is self-contained.

Training dataset: saifahmad123/Franka_GRASPNET

Path	Purpose
`step_40000/params/`	Model weights. Required to serve the policy.
`step_40000/assets/`	Normalization statistics. Required to serve the policy.
`step_40000/train_state/`	Optimizer state. Only present if uploaded with `--include-train-state`; needed to resume training.

Usage

python

from huggingface_hub import snapshot_download
from openpi.policies import policy_config
from openpi.training import config as _config

ckpt = snapshot_download("saifahmad123/pi05-franka-graspnet-abs-frozen-siglip", allow_patterns="step_40000/*") + "/step_40000"
train_config = _config.get_config("pi05_Franka_GRASPNET_abs_frozen_siglip")
policy = policy_config.create_trained_policy(train_config, ckpt)

action_chunk = policy.infer(observation)["actions"]

saifahmad123/pi05-franka-graspnet-abs-frozen-siglip

pi05-franka-graspnet-abs-frozen-siglip

Contents

Usage

saifahmad123/
pi05-franka-graspnet-abs-frozen-siglip