Pi0.5 Fold Towels v1 Checkpoint 010000
This is a SparkMind2 Pi0.5 policy fine-tuned on YoungTO/fold-towels-v1.
- Source checkpoint: step 10000 from
pi05_fold_towels_v1_base_full_ft_15000_7gpu
- Base checkpoint: local
pi05_base
- Export format: LeRobot-style
pretrained_model
- Precision conversion: mixed bf16/fp32
The conversion follows the SparkMind2 Pi0.5 model precision rule:
- bf16 for most trainable model weights
- fp32 retained for
vision_tower, multi_modal_projector, input_layernorm, post_attention_layernorm, and model.norm
See conversion_summary.json for dtype counts.
