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12000/params/array_metadatas/process_0

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16000/params/_sharding

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16000/params/array_metadatas/process_0

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README.md

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+# pi05_rm65_4tasks_350 (v1)
+
+pi0.5 fine-tuned on the RealMan RM65 right arm: pick up the rightmost object and retract while keeping it grasped.
+4 objects, 350 episodes (2026-10-05 delivery, merged then trimmed: `rm65/4tasks_350_v2_trim`, 123,698 frames @ 30 fps).
+
+- openpi config: `pi05_rm65_4tasks_350` (LLM LoRA + full action expert, action_horizon 32, EMA 0.99, batch 32, 20k steps)
+- state / action: 7-dim absolute joints `right_q1..q6` (rad) + `right_gripper` (0 closed .. 100 open)
+- cameras: `observation/top`, `observation/wrist`
+- checkpoints: `12000/`, `16000/`, `19999/` — each has `params/` and `assets/rm65/4tasks_350_v2_trim/norm_stats.json`
+  (optimizer `train_state/` omitted). Final train loss ≈ 0.0016.
+
+Prompts (use verbatim):
+- Pick up the rightmost yellow original-flavor potato chip package as seen in the top camera image with the right arm, then retract the arm while keeping it securely grasped.
+- Pick up the rightmost green-and-red cucumber-flavor potato chip package as seen in the top camera image with the right arm, then retract the arm while keeping it securely grasped.
+- Pick up the rightmost purple tomato-flavor potato chip package with the right arm, then retract the arm while keeping it securely grasped.
+- Pick up the rightmost Coca-Cola container containing black liquid as seen in the top camera image with the right arm, then retract the arm while keeping it securely grasped.
+
+Serve:
+```
+uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi05_rm65_4tasks_350 --policy.dir=<path>/19999
+```