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pi05-base-mini-chair-openpi
q-research/pi05-base-mini-chair-openpi
pi05-base-mini-chair-openpi is a robotics model from q-research. 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. The card lists the license as apache-2.0.
Full fine-tune of Physical Intelligence pi0.5 (pi05base) trained with openpi (PyTorch backend) on JonathanGiegold/mini-chair-base-put-only.
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Public
Updated Jun 18, 2026
Parameters
3.6B
7.5 GB on disk
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Repo makeup
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.safetensors7.5 GB · 100%
Parameter types
How the weights are stored.
BF163.5B · 97%
Model card
From the Hugging Face model README
pi05-base-mini-chair-openpi
Full fine-tune of Physical Intelligence pi0.5 (pi05_base) trained with openpi (PyTorch backend) on
JonathanGiegold/mini-chair-base-put-only.
Files
model.safetensors— fine-tuned weights (final step 12,963)metadata.pt— openpi checkpoint metadataassets/JonathanGiegold/mini-chair-base-put-only-v21/norm_stats.json— required state/action normalization stats for inferencetraining_summary.png— training curves (loss / grad-norm / LR)
Optimizer state is intentionally omitted (inference/deploy only).
Training curves
Raw per-step loss shows spikes from flow-matching noise-level sampling; the smoothed trend falls 0.31 -> ~0.035 and is flat at the end. Gradient-norm spikes coincide with those steps but were absorbed by gradient clipping (norm 1.0, fired on ~2% of steps), so the optimizer stayed stable throughout.
Model
| Architecture | pi0.5 (PaliGemma gemma_2b + action expert gemma_300m) |
| Action horizon | 16 |
| State / action dim | 14 (padded to 32) |
| Precision | bfloat16 |
| Cameras (3) | context, wrist_left, wrist_right |
Data
| Dataset | JonathanGiegold/mini-chair-base-put-only (LeRobot v2.1 on-box conversion) |
| Transforms | repack + delta joint actions (mask [Tx6, F, Tx6, F]), prompt_from_task |
| Normalization | quantile (norm_stats computed on this dataset) |
Hyperparameters
| Steps | 12,964 (5 epochs) |
| Batch size | 32 |
| Num workers | 8 |
| Seed | 42 |
| EMA | disabled |
| Optimizer | AdamW |
| betas (b1, b2) | 0.9, 0.95 |
| eps | 1e-8 |
| weight_decay | 1e-10 |
| grad clip norm | 1.0 |
| LR schedule | cosine decay with warmup |
| warmup steps | 1,000 |
| peak LR | 2.5e-5 |
| decay steps | 12,964 |
| floor LR | 2.5e-6 |
Run
| Hardware | 1x H100 80GB |
| Wall time | ~11h 29m (~3.19 s/step) |
| VRAM | ~41.6 GB |
| Final smoothed loss | ~0.035 |
- Task
- Robotics
- Library
- openpi
- License
- apache-2.0
- Created
- Jun 18, 2026
- Updated
- Jun 18, 2026