| > **30k candidate:** default checkpoint is |
| > `checkpoints/29999`. L40 and physical-robot acceptance |
| > are still pending. Do not publish or treat as frozen. |
|
|
| --- |
| license: apache-2.0 |
| library_name: jax |
| tags: |
| - robotics |
| - vision-language-action |
| - pi0.5 |
| - stream-pi |
| - piper-x |
| - real-robot |
| --- |
| |
| # StreamPI Piper-X Real6 — 20k |
| |
| StreamPI / π0.5 checkpoint fine-tuned for six Piper-X dual-arm |
| real-robot manipulation tasks. |
| |
| This release packages the 20,000-step JAX inference checkpoint together |
| with its matching normalization statistics, deployment code, evaluation |
| utilities, and source framework. |
| |
| ## Release contents |
| |
| - Complete StreamPI/OpenPI source framework |
| - 20,000-step JAX inference parameters |
| - Matching `real_piper_x_6tasks` normalization statistics |
| - WebSocket policy server and Piper-X robot client |
| - Offline replay-evaluation scripts and saved results |
| - Release manifest and provenance metadata |
| - Archived upstream StreamPI README |
|
|
| ## Model overview |
|
|
| | Field | Value | |
| |---|---| |
| | Base policy | π0.5 | |
| | Temporal extension | StreamPI | |
| | Training framework | JAX | |
| | Robot | Piper-X dual-arm platform | |
| | Training domain | Real-robot manipulation | |
| | Number of tasks | 6 | |
| | Released training step | 20,000 | |
| | Dataset/config identity | `real_piper_x_6tasks` | |
| | Intended use | Research, offline evaluation, and controlled real-robot deployment | |
|
|
| ## Observation and action interface |
|
|
| The checkpoint must be used with the same feature ordering, camera naming, |
| normalization statistics, and control convention used during training. |
|
|
| | Component | Expected content | |
| |---|---| |
| | External camera | `cam_high` | |
| | Wrist cameras | `cam_left_wrist`, `cam_right_wrist` | |
| | Left-arm state/action | `left_joint_1..6`, `left_gripper` | |
| | Right-arm state/action | `right_joint_1..6`, `right_gripper` | |
| | Normalization | Bundled `real_piper_x_6tasks` statistics | |
| | Policy transport | WebSocket policy server/client | |
|
|
| Do not substitute normalization statistics from another robot, dataset, or |
| checkpoint. Even when tensor dimensions match, a different joint order, |
| gripper convention, image key, or normalization range can produce invalid |
| robot actions. |
|
|
| ## Recommended validation order |
|
|
| Before enabling torque on the physical robot: |
|
|
| 1. Verify checkpoint loading and configuration resolution. |
| 2. Confirm all three camera streams and their expected names. |
| 3. Confirm state and action dimensions, joint order, units, and gripper range. |
| 4. Load the bundled `real_piper_x_6tasks` normalization statistics. |
| 5. Run the packaged offline replay evaluation. |
| 6. Inspect predicted actions for NaN, Inf, discontinuities, and range violations. |
| 7. Test with torque disabled or in a constrained low-speed environment. |
| 8. Enable real-robot execution only after all safety checks pass. |
|
|
| ## Deployment notes |
|
|
| The WebSocket server and robot client must use the same checkpoint, |
| configuration, normalization assets, observation schema, and action-chunk |
| execution convention. |
|
|
| For reproducibility, use the environment and launch information recorded in |
| the packaged manifest and provenance metadata. Paths from the original |
| training machine may need to be replaced with local release paths. |
|
|
| ## Key packaged files |
|
|
| - [`assets/pi05_calvin/InternRobotics/InternData-Calvin_ABC/norm_stats.json`](assets/pi05_calvin/InternRobotics/InternData-Calvin_ABC/norm_stats.json) |
| - [`assets/pi05_libero/physical-intelligence/libero/norm_stats.json`](assets/pi05_libero/physical-intelligence/libero/norm_stats.json) |
| - [`assets/streampi05/unified_robodojo_all_arx_x5/norm_stats.json`](assets/streampi05/unified_robodojo_all_arx_x5/norm_stats.json) |
| - [`checkpoints/20000/assets/real_piper_x_6tasks/norm_stats.json`](checkpoints/20000/assets/real_piper_x_6tasks/norm_stats.json) |
| - [`deployment/piperx_client.py`](deployment/piperx_client.py) |
| - [`evaluation/scripts/offline_continuous_replay.py`](evaluation/scripts/offline_continuous_replay.py) |
| - [`evaluation/scripts/offline_replay_eval_30.py`](evaluation/scripts/offline_replay_eval_30.py) |
| - [`evaluation/scripts/offline_replay_smoke.py`](evaluation/scripts/offline_replay_smoke.py) |
| - [`lerobot/examples/2_evaluate_pretrained_policy.py`](lerobot/examples/2_evaluate_pretrained_policy.py) |
| - [`lerobot/lerobot/configs/eval.py`](lerobot/lerobot/configs/eval.py) |
| - [`lerobot/lerobot/scripts/eval.py`](lerobot/lerobot/scripts/eval.py) |
| - [`packages/openpi-client/src/openpi_client/websocket_client_policy.py`](packages/openpi-client/src/openpi_client/websocket_client_policy.py) |
| - [`src/openpi/serving/websocket_policy_server.py`](src/openpi/serving/websocket_policy_server.py) |
| - [`third_party/aloha/aloha_scripts/replay_episodes.py`](third_party/aloha/aloha_scripts/replay_episodes.py) |
| - [`third_party/libero/libero/lifelong/evaluate.py`](third_party/libero/libero/lifelong/evaluate.py) |
|
|
| ## Upstream documentation |
|
|
| The original StreamPI project README is preserved at: |
|
|
| - [`docs/UPSTREAM_STREAMPI_README.md`](docs/UPSTREAM_STREAMPI_README.md) |
|
|
| Use the upstream document for general StreamPI/OpenPI architecture and |
| installation information. This model card describes the Piper-X Real6 |
| checkpoint and its release-specific constraints. |
|
|
| ## Intended use |
|
|
| This release is intended for: |
|
|
| - StreamPI and π0.5 research |
| - Offline inference and replay evaluation |
| - Reproduction of the Piper-X Real6 experiments |
| - Controlled deployment on a compatible Piper-X dual-arm platform |
| - Analysis of temporal conditioning in vision-language-action policies |
|
|
| ## Limitations |
|
|
| - The checkpoint was trained on a limited set of six real-robot tasks. |
| - Performance outside the training distribution is not guaranteed. |
| - Camera placement, lighting, workspace geometry, embodiment calibration, |
| and action conventions can materially affect behavior. |
| - Offline replay consistency does not guarantee closed-loop task success. |
| - Real-robot execution requires independent collision, workspace, velocity, |
| and emergency-stop safeguards. |
|
|
| ## Safety |
|
|
| This model can generate unsafe or out-of-distribution robot commands. |
| Deployment must include external safety controls such as joint-limit checks, |
| workspace constraints, velocity and acceleration limits, collision monitoring, |
| and a hardware emergency stop. |
|
|
| Never treat the learned policy as the sole safety layer. |
|
|
| ## License |
|
|
| Apache-2.0. Third-party components and upstream dependencies remain subject |
| to their respective licenses. |
|
|
| <!-- PIPERX_REAL6_DEPLOYMENT_START --> |
| |
| ## Piper-X Real6 deployment |
| |
| This release contains the StreamPI Piper-X policy trained for six real-robot |
| tasks. |
| |
| Runtime configuration: |
| |
| ```yaml |
| config: pi05_stream3_piper_x_real_6tasks |
| checkpoint: checkpoints/20000 |
| asset: real_piper_x_6tasks |
| history: 3 |
| predict: 10 |
| execute: 5 |
| state_dim: 14 |
| action_dim: 14 |
| ``` |
| |
| Verify the release: |
| |
| ```bash |
| export OPENPI_PYTHON=/path/to/python |
| bash scripts/verify_release.sh |
| ``` |
| |
| Run a synthetic loopback test without robot hardware: |
| |
| ```bash |
| export OPENPI_PYTHON=/path/to/python |
| export LOOPBACK_GPU=0 |
| export LOOPBACK_PORT=18080 |
|
|
| bash scripts/test_loopback.sh |
| ``` |
| |
| Start the policy server: |
| |
| ```bash |
| export OPENPI_PYTHON=/path/to/python |
| export POLICY_GPU=0 |
| export POLICY_PORT=8000 |
|
|
| bash scripts/start_policy_server.sh |
| ``` |
| |
| Before enabling robot torque, complete policy warm-up and read |
| [`HANDOFF.md`](HANDOFF.md), especially the client protocol and safety |
| requirements. |
| |
| <!-- PIPERX_REAL6_DEPLOYMENT_END --> |
| |
