pi05_step29999_ft_stack_ring_original100_10k_step9999
Inference-only OpenPI Pi0.5 checkpoint.
- Variant:
original100
- OpenPI config:
pi05_wamdata_ds2
- Cameras:
left, left_wrist
- State/action semantics: absolute Franka joint7 + gripper
- Action horizon: 16 at 15 Hz
- Normalization: original WAMData_ds2 quantile stats
Load the directory containing params/ and assets/ as the policy checkpoint.
