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Himanshu77275/
pi05-xarm-hang-blue-mug-v1

Name: pi05-xarm-hang-blue-mug-v1
Availability: InStock

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Pi0.5 xArm Hang Blue Mug v1

This repository contains Pi0.5 policy checkpoints fine-tuned with LeRobot on the JayCao99/xarm-hang-blue-mug-v1 dataset.

Training Summary

Field	Value
Policy	Pi0.5
Dataset	`JayCao99/xarm-hang-blue-mug-v1`
Robot	xArm7
Cameras	`ego`, `wrist`
State dim	15
Action dim	8
Batch size	64
Save frequency	5,000 steps
Precision	bfloat16

Checkpoints

Checkpoint	Notes
`checkpoint-015000/`	Policy checkpoint after 15,000 steps
`checkpoint-030000/`	Policy checkpoint after 30,000 steps
`checkpoint-060000/`	Policy checkpoint after 60,000 steps

Usage

python

from huggingface_hub import snapshot_download

ckpt_dir = snapshot_download(
    repo_id="Himanshu77275/pi05-xarm-hang-blue-mug-v1",
    allow_patterns="checkpoint-060000/*",
)

Each checkpoint directory contains the LeRobot policy config, model weights, and dataset normalization/preprocessing files needed for policy loading.