| --- |
| license: other |
| tags: |
| - robotics |
| - openpi |
| - pi05 |
| - robocasa |
| --- |
| |
| # pi05_atomic65_from_base |
| |
| > **Checkpoints removed (2026-10-22).** Training stopped at about 47k steps, and all step folders were deleted. |
| > The best atomic-only checkpoint from this work is [`ducido/pi05_atomic65_50k/35000/`](https://huggingface.co/ducido/pi05_atomic65_50k) (70.5%). It was trained with one cosine schedule, without the optimizer restarts of this run. |
| |
| A π0.5 checkpoint (openpi, JAX) fine-tuned from `pi05_base` on **RoboCasa365 atomic tasks only**. It contains no composite-task data. |
| This is a research checkpoint. |
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| ## Evaluation (RoboCasa365, 65 atomic tasks, pretrain split, 5 episodes per task) |
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| openpi `eval_g0` client, replan every 5 steps, seeds `700000 + episode`, episodes 0–4. Mean success rate over the 65 tasks: |
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| | Checkpoint | 10k | 15k | 20k | 25k | 30k | 35k | 40k | 45k | |
| |---|---|---|---|---|---|---|---|---| |
| | Mean SR | 52.0 | 62.5 | 57.5 | 60.6 | 64.6 | 65.2 | 65.5 | 66.5 | |
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| The reference RoboCasa365 `pi05_pretrain_human300` 75k checkpoint, trained on 300 tasks, gets 40.3%. |
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| With 5 episodes per task the per-task numbers are noisy; the paired differences (same seeds) are significant (McNemar p < 0.001 for 15k vs 10k and for 10k vs 75k). |
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| | | | |
| |---|---| |
| | openpi config | `pi05_atomic65_from_base`, a copy of `pi05_pretrain_human300` (openpi RoboCasa fork) with only the data changed | |
| | Model | `Pi0Config(pi05=True, max_token_len=200)` | |
| | Init | `gs://openpi-assets/checkpoints/pi05_base/params` | |
| | Data | 65 RoboCasa365 atomic tasks: `get_ds_soup(split="pretrain", task_set="all_atomic_tasks", source="human")`, i.e. human demos, pretrain split, filter key `100_demos` (~100 demos per task) | |
| | Norm stats | combined from each dataset's `meta/stats.json` (`assets/norm_stats.json`) | |
| | Batch | 64 (2×A100 80GB, FSDP 2) | |
| | LR (steps 0–10k, config `pi05_atomic65_from_base`) | cosine: warmup 1k, peak 2.5e-5, decay over 100k steps to 2.5e-6. The run stops at 10k steps, so the LR is still near peak (≈2.49e-5 at 5k, ≈2.45e-5 at 10k) | |
| | LR (10k–15k, config `pi05_atomic65_cont10k`) | init from `9999/` params, fresh optimizer; warmup 500, cosine planned over 20k steps from 2.5e-5 to 2.5e-6, stopped after 5k steps (LR ≈2.2e-5) | |
| | LR (15k–50k, config `pi05_atomic65_cont15k`) | init from `15000/` params, fresh optimizer; warmup 500, cosine over 35k steps from 2.5e-5 to 2.5e-6; stopped at step ~32k (≈47k total) on 2026-10-22 | |
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| ## Layout |
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| No checkpoints remain. The eval numbers above were measured before the folders were deleted. |
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| ## License |
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| These weights are derived from openpi's `pi05_base` (Physical Intelligence), which builds on PaliGemma. Use is subject to the license terms of those upstream weights, including the Gemma Terms of Use. |
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