xarm6_act_pick2_pi05
OpenPI pi0.5 fine-tuned checkpoint for xarm6 pick-and-place.
Contents
This repo is structured as an OpenPI checkpoint directory:
You can download this repo with snapshot_download(...) and pass the downloaded directory
directly to OpenPI as checkpoint_dir.
Training summary
- Base checkpoint:
pi05_base
- Fine-tune config:
pi05_xarm_v2_stage1
- Final step:
29999
- Robot:
xarm6
- Dataset:
xarm6_act_pick2_v2
Notes
- This repo is intended for inference.
- For robot execution, use the first 7 dims of the predicted action chunk.
