---
library_name: openpi
tags:
  - robotics
  - pi0.5
  - multi-arm
---

# PI0.5 Multi-Arm Checkpoints

Each registered task owns a separate top-level directory. Numeric directories
are training steps and `latest` is that task's final published step.

Registered prefixes: `blocks_stack_easy`, `blocks_stack_hard`,
`blocks_ranking_size_easy`, `scan_object`, and `place_item_basket`.

Only inference `params`, normalization `assets`, and `model_info.json` are
published. Optimizer `train_state` remains local. See each `model_info.json`
for its dataset prefix, portable local dataset id, base parameter URI, code
commit, and training settings.