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Dengliming/StreamPIReal6_3w
StreamPIReal6_3w is a machine learning model from Dengliming. Use it for the machine learning task on the model card, and read the license before you ship it in a product.
30k candidate: default checkpoint is checkpoints/29999. L40 and physical-robot acceptance are still pending. Do not publish or treat as frozen.
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Updated Sep 19, 2026
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From the Hugging Face model README
30k candidate: default checkpoint is
checkpoints/29999. L40 and physical-robot acceptance are still pending. Do not publish or treat as frozen.
license: apache-2.0 library_name: jax tags:
StreamPI / π0.5 checkpoint fine-tuned for six Piper-X dual-arm real-robot manipulation tasks.
This release packages the 20,000-step JAX inference checkpoint together with its matching normalization statistics, deployment code, evaluation utilities, and source framework.
real_piper_x_6tasks normalization statistics| Field | Value |
|---|---|
| Base policy | π0.5 |
| Temporal extension | StreamPI |
| Training framework | JAX |
| Robot | Piper-X dual-arm platform |
| Training domain | Real-robot manipulation |
| Number of tasks | 6 |
| Released training step | 20,000 |
| Dataset/config identity | real_piper_x_6tasks |
| Intended use | Research, offline evaluation, and controlled real-robot deployment |
The checkpoint must be used with the same feature ordering, camera naming, normalization statistics, and control convention used during training.
| Component | Expected content |
|---|---|
| External camera | cam_high |
| Wrist cameras | cam_left_wrist, cam_right_wrist |
| Left-arm state/action | left_joint_1..6, left_gripper |
| Right-arm state/action | right_joint_1..6, right_gripper |
| Normalization | Bundled real_piper_x_6tasks statistics |
| Policy transport | WebSocket policy server/client |
Do not substitute normalization statistics from another robot, dataset, or checkpoint. Even when tensor dimensions match, a different joint order, gripper convention, image key, or normalization range can produce invalid robot actions.
Before enabling torque on the physical robot:
real_piper_x_6tasks normalization statistics.The WebSocket server and robot client must use the same checkpoint, configuration, normalization assets, observation schema, and action-chunk execution convention.
For reproducibility, use the environment and launch information recorded in the packaged manifest and provenance metadata. Paths from the original training machine may need to be replaced with local release paths.
assets/pi05_calvin/InternRobotics/InternData-Calvin_ABC/norm_stats.jsonassets/pi05_libero/physical-intelligence/libero/norm_stats.jsonassets/streampi05/unified_robodojo_all_arx_x5/norm_stats.jsoncheckpoints/20000/assets/real_piper_x_6tasks/norm_stats.jsondeployment/piperx_client.pyevaluation/scripts/offline_continuous_replay.pyevaluation/scripts/offline_replay_eval_30.pyevaluation/scripts/offline_replay_smoke.pylerobot/examples/2_evaluate_pretrained_policy.pylerobot/lerobot/configs/eval.pylerobot/lerobot/scripts/eval.pypackages/openpi-client/src/openpi_client/websocket_client_policy.pysrc/openpi/serving/websocket_policy_server.pythird_party/aloha/aloha_scripts/replay_episodes.pythird_party/libero/libero/lifelong/evaluate.pyThe original StreamPI project README is preserved at:
Use the upstream document for general StreamPI/OpenPI architecture and installation information. This model card describes the Piper-X Real6 checkpoint and its release-specific constraints.
This release is intended for:
This model can generate unsafe or out-of-distribution robot commands. Deployment must include external safety controls such as joint-limit checks, workspace constraints, velocity and acceleration limits, collision monitoring, and a hardware emergency stop.
Never treat the learned policy as the sole safety layer.
Apache-2.0. Third-party components and upstream dependencies remain subject to their respective licenses.
<!-- PIPERX_REAL6_DEPLOYMENT_START -->This release contains the StreamPI Piper-X policy trained for six real-robot tasks.
Runtime configuration:
config: pi05_stream3_piper_x_real_6tasks
checkpoint: checkpoints/20000
asset: real_piper_x_6tasks
history: 3
predict: 10
execute: 5
state_dim: 14
action_dim: 14
Verify the release:
export OPENPI_PYTHON=/path/to/python
bash scripts/verify_release.sh
Run a synthetic loopback test without robot hardware:
export OPENPI_PYTHON=/path/to/python
export LOOPBACK_GPU=0
export LOOPBACK_PORT=18080
bash scripts/test_loopback.sh
Start the policy server:
export OPENPI_PYTHON=/path/to/python
export POLICY_GPU=0
export POLICY_PORT=8000
bash scripts/start_policy_server.sh
Before enabling robot torque, complete policy warm-up and read
HANDOFF.md, especially the client protocol and safety
requirements.