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:

• params/
• assets/

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.