| # pour_pi0_base |
|
|
| PyTorch `pi0` baseline policy fine-tuned on the local UR5 real-robot LeRobot-format pour dataset. |
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| - dataset: `ur5_place_and_pour_nuts_camera_shifts` |
| - training config name: `pi0_ur5_real_robot_pytorch_baseline` |
| - experiment name: `pi0_ur5_pour_pytorch_baseline_tandon_2gpu_b16` |
| - source Slurm job: `9753731` |
| - base camera view: `observation.images.context_left_rgb` |
| - wrist camera view: `observation.images.wrist_right_rgb` |
| - base model init: `/scratch/yz11445/pi0_base` |
| - currently included checkpoint steps: `20000`, `25000`, `30000` |
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| This run has completed through `30000` steps. |
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|
| ## Included Files |
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| - `config.json`: base pi0 model config copied from the initialization checkpoint |
| - `model_architecture_config.json`: baseline architecture settings used by this run |
| - `training_config_summary.json`: training/data/run summary for this release |
| - `assets/ur5_place_and_pour_nuts_camera_shifts/norm_stats.json`: normalization statistics |
| - `checkpoints/<step>/`: hard-linked checkpoint snapshots with `model.safetensors`, `metadata.pt`, and hard-linked assets |
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|
| ## Inference |
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| Serve one of the included checkpoints with: |
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|
| ```bash |
| uv run scripts/serve_policy.py policy:checkpoint \ |
| --policy.config=pi0_ur5_real_robot_pytorch_baseline \ |
| --policy.dir=/path/to/pour_pi0_base/checkpoints/30000 |
| ``` |
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|
| ## Notes |
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|
| - The policy loader uses the code-defined training config `pi0_ur5_real_robot_pytorch_baseline` from `src/openpi/training/config.py`. |
| - This baseline variant has geometric augmentation off and keeps pose/ray/view/cross-view/aux-point modules disabled. |
| - Release checkpoints intentionally exclude `optimizer.pt`. |
| - Normalization stats are also present inside each checkpoint asset tree; a top-level hard-linked copy is included for convenience. |
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