---
library_name: transformers
tags: [robotics, opendm, dm05, xpolicylab]
---
# Checkpoints

## `opendm/sim_exam-piper-l1-m1-piper-joint-0`

DM0.5 (OpenDM) full SFT on the sim-exam dual Piper L1 split (900 episodes, 1,636,232 frames),
initialized from `DM05-MEM`. Experiment M1: 15,000 steps x global batch 256
(8 x H20, micro-batch 8, gradient accumulation 4), lr 5e-5, 1,000 warmup steps,
cosine to 2.5e-5. Action space: `piper` / `joint`.

Files are the final export (inference weights, `config.json`, `norm_stats.json`, processor and
tokenizer, plus `training_config.json` / `training_dataset.json` / `trainer_state.json` for provenance).
Load the directory with the XPolicyLab `OpenDM` adapter.