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pi05-robotwin
ShijieSKY/pi05-robotwin
pi05-robotwin is a robotics model from ShijieSKY. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for openpi.
Original pi0.5 (historyactionconditioning=False). Fine-tuned on the merged RoboTwin-Clean LeRobot dataset.
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Public
Updated Aug 31, 2026
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14.1 GB
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At a glance
- Task
- Robotics
- Library
- openpi
- Access
- Public
- Created
- Aug 31, 2026
- Updated
- Aug 31, 2026
- SHA
- e81d31ca
Model card
From the Hugging Face model README
Pi05 RoboTwin
Original pi0.5 (history_action_conditioning=False). Fine-tuned on the merged RoboTwin-Clean LeRobot dataset.
Checkpoints
checkpoints/30000: training step 30,000 (3w)checkpoints/59999: final checkpoint of the 60,000-step run (6w)
Each checkpoint contains inference parameters under params/ and normalization statistics under assets/openpi_robotwin_clean_merged/norm_stats.json. Optimizer and training state are intentionally omitted.
Training configuration
- Base model: pi0.5
- Action horizon: 50
- Action dimension: 32
- Dataset:
openpi_robotwin_clean_merged - Seed: 42
- Precision: bfloat16
- Fine-tuning steps: 60,000
Use a checkpoint directory (for example checkpoints/59999) as the OpenPI checkpoint path.
- Task
- Robotics
- Library
- openpi
- Created
- Aug 31, 2026
- Updated
- Aug 31, 2026