CJieee/pi05-piper-stack-blocks-three

π₀.₅ Piper stack_blocks_three

Private OpenPI checkpoint from full fine-tuning of pi05_base on HorizonRobotics/Real-World-Dataset v0.2. Independent single-task run (not multi-task). Optimizer train_state is not included.

OpenPI config	pi05_piper_stack_blocks_three
Experiment	stack_blocks_three_ft10k
Recommended step	8000
Train steps	10000
Offline val FM loss	0.01254
Train / val episodes	180 / 20
Prompt	Stack the three blocks on top of each other.
FSDP / batch / EMA	2 / 8 / 0.99
LR	cosine warmup 1000, peak 2.5e-5, decay 30000 → 2.5e-6

Layout

• params/: Orbax PyTree weights (OpenPI weight_loader / policy serve)
• assets/: train-split norm_stats.json
• config.json: run metadata

Load with OpenPI by pointing --policy.config pi05_piper_stack_blocks_three and the checkpoint directory at this repo (the folder that contains params/).