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pi05_piper_folding_iwr
axiboai/pi05_piper_folding_iwr
pi05_piper_folding_iwr is a robotics model from axiboai. 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 piper. The card lists the license as apache-2.0.
IWR-style corrective fine-tune of towel folding. Warm-started from pi05piperfoldingv2 (20k), then a short low-LR pass (5000 steps @ 2e-5) on axiboai/piperfoldingiwrv1 (277 base + 34 human-intervention episodes x2, pau…
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Updated Jun 26, 2026
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At a glance
- Task
- Robotics
- Library
- piper
- License
- apache-2.0
- Access
- Public
- Created
- Jun 26, 2026
- Updated
- Jun 26, 2026
- SHA
- 96dbba3d
Model card
From the Hugging Face model README
pi05_piper_folding_iwr (step 4999 / final)
IWR-style corrective fine-tune of towel folding. Warm-started from pi05_piper_folding_v2 (20k),
then a short low-LR pass (5000 steps @ 2e-5) on axiboai/piper_folding_iwr_v1
(277 base + 34 human-intervention episodes x2, pause-trimmed). Fixes folding failure modes.
Prompt: pick towel from pile, fold and stack
import pathlib
from huggingface_hub import snapshot_download
from openpi.training import config as _config
from openpi.policies import policy_config
ckpt = pathlib.Path(snapshot_download("axiboai/pi05_piper_folding_iwr"))
policy = policy_config.create_trained_policy(_config.get_config("pi05_piper_folding_iwr"), ckpt)
- Task
- Robotics
- Library
- piper
- License
- apache-2.0
- Created
- Jun 26, 2026
- Updated
- Jun 26, 2026