pi05_franka_5task_full_20k

π0.5 Dual-Franka Five-Task Full SFT — 20k

English | 中文说明

This repository contains the final JAX/Orbax checkpoint from full-parameter supervised fine-tuning of the official OpenPI pi05_base model on five real-robot manipulation tasks collected with a dual Franka FR3 setup.

Tasks and prompts

Use the exact prompt wording above for the closest match to training-time conditioning.

Data

• Platform: dual Franka FR3, joint-space control
• Source: real-robot teleoperation trajectories
• Raw episodes: 250 (50 per task)
• Training split: 225 episodes (45 per task)
• Held-out split: 25 episodes (5 per task)
• Cameras: chest, left wrist, right wrist
• Robot state: 16 dimensions — left 7 joints + left gripper + right 7 joints + right gripper
• Source action: the same 16-dimensional dual-arm joint/gripper ordering
• Source streams were aligned at 20 Hz and stored in LeRobot format

The OpenPI model configuration pads the 16-dimensional source action to action_dim=32 internally and predicts an action horizon of 20.

Data-quality note

For place_bowl_on_plate_pt2, 32 trajectories had chest-camera timestamp offsets above the strict default conversion threshold. They were retained with a 3000 ms camera-alignment tolerance to satisfy the experiment requirement of using all 50 trajectories. This can introduce observation/action temporal mismatch and should be considered when interpreting real-robot behavior.

Training configuration

The last logged training loss at step 19,900 was 0.0096. Training loss is not a real-robot success metric.

Download and loading

hf download THU98/pi05_franka_5task_full_20k \
  --local-dir ./pi05_franka_5task_full_20k

The repository is an OpenPI JAX/Orbax checkpoint. Use it with a matching local OpenPI configuration named pi05_franka_5task_pt2_full:

uv run scripts/serve_policy.py policy:checkpoint \
  --policy.config=pi05_franka_5task_pt2_full \
  --policy.dir=./pi05_franka_5task_full_20k

The local configuration must match the training architecture (pi05=True, action_dim=32, action_horizon=20) and must supply the included normalization assets. This is not a Transformers from_pretrained() checkpoint.

Evaluation status

No controlled real-robot success-rate evaluation is published with this checkpoint. The 25 held-out episodes were retained for offline checkpoint comparison, but training loss alone does not establish deployment performance.

Intended use and limitations

• Research use on a dual Franka setup with matching cameras, joint order, gripper convention, preprocessing, normalization, control rate, and prompts.
• Not validated for other robots, camera calibration, viewpoints, objects, or language paraphrases.
• The five tasks are narrow and mostly left-arm behaviors; this is not a general-purpose robot policy.
• Before hardware deployment, verify action bounds, emergency stops, collision avoidance, workspace limits, latency, and low-speed dry runs.
• Human supervision and independent safety controls are required. The model must not directly bypass robot safety systems.

中文说明

这是基于官方 OpenPI pi05_base，使用双 Franka FR3 真机遥操数据进行全参数 SFT 得到的五任务模型。训练集为 225 条、留出集为 25 条，总训练 20,000 步。输入包括胸部、左腕、右腕三路图像、Language Instruction 和 16 维双臂关节/夹爪状态；输出为双臂动作序列。

place_bowl_on_plate_pt2 中部分轨迹存在较大的胸部相机时间戳偏差。本实验为保留全部 50 条数据放宽了对齐阈值，因此部署时需要重点检查视觉与动作的时间同步。当前没有发布正式真机成功率，训练 loss 不能替代真机评测。

Sources

• OpenPI: https://github.com/Physical-Intelligence/openpi