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pi05-robotwin2-clean50-sft
madokalif/pi05-robotwin2-clean50-sft
pi05-robotwin2-clean50-sft is a robotics model from madokalif. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as apache-2.0.
Full fine-tune of OpenPI pi0.5 on the RoboTwin 2.0 clean50 50-task aloha suite.
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Public
Updated Jul 6, 2026
Parameters
3.6B
7.5 GB on disk
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Repo makeup
Click a slice to open those files.
.safetensors7.5 GB · 100%
Parameter types
How the weights are stored.
BF163.5B · 97%
Model card
From the Hugging Face model README
pi0.5 RoboTwin 2.0 clean50 50-task SFT
Full fine-tune of OpenPI pi0.5 on the RoboTwin 2.0 clean50 50-task aloha suite.
- Base:
motus-robotics/pi0.5_robotwin2(pi0.5, aloha 14-dim state/action) - Training: full fine-tune (PyTorch/DDP), global batch 64, 20,000 steps, cosine LR
- Final train loss ~0.0017 (flow-matching velocity)
- Config:
pi05_robotwin2_clean50_full/ exprtw_sft_full_v1
Files
model.safetensors— 812-key pi0.5 weights (drop-in for the openpi/RoboTwin pi0.5 eval server)assets/robotwin2/aloha_clean50_50task/norm_stats.json— state/action norm stats (14-dim)metadata.pt— training metadata
optimizer.pt is intentionally omitted (inference does not need it).
- Task
- Robotics
- License
- apache-2.0
- Created
- Jul 6, 2026
- Updated
- Jul 6, 2026