| --- |
| language: |
| - en |
| license: other |
| license_name: gemma-terms |
| license_link: https://huggingface.co/henry13522/Taskanchor/blob/main/LICENSE_GEMMA.txt |
| pipeline_tag: robotics |
| tags: |
| - taskanchor |
| - pi05 |
| - robomemarena |
| - jax |
| - orbax |
| --- |
| |
| # TaskAnchor–π0.5: RoboMemArena 50k weights |
|
|
| This repository contains the complete inference checkpoint and its required |
| configuration, tokenizer, and normalization assets. Source code will be |
| published separately on GitHub; the link will be added here when available. |
| No benchmark scores are published in this repository. |
|
|
| ## Files |
|
|
| ```text |
| 50000/ |
| params/ # Complete backbone + TaskAnchor, Orbax OCDBT |
| assets/robomem_memory.json |
| assets/pi05_libero/norm_stats.json |
| _CHECKPOINT_METADATA |
| recipe.json # Keep one level above 50000/ |
| tokenizer/paligemma_tokenizer.model |
| weights_manifest.json # File hashes and tensor inventory |
| SHA256SUMS # Inference payload checksums |
| release_manifest.json # Full publication inventory |
| LICENSE_GEMMA.txt |
| NOTICE |
| ``` |
|
|
| The inference payload is approximately 10.86 GiB. It contains full model |
| weights, not an adapter-only delta. The parameters are stored in native |
| JAX/Orbax OCDBT format; they are not Safetensors. The checkpoint was restored |
| on CPU and checked for finite values. Optimizer state is not included. |
|
|
| ## Download |
|
|
| ```bash |
| hf download henry13522/Taskanchor --local-dir ./Taskanchor |
| cd Taskanchor |
| sha256sum -c SHA256SUMS |
| ``` |
|
|
| In the matching TaskAnchor inference code, set the checkpoint path to |
| `/absolute/path/to/Taskanchor/50000` and retain `recipe.json` in its parent. |
| Set `TASKANCHOR_TOKENIZER_PATH` to the absolute path of the supplied |
| `tokenizer/paligemma_tokenizer.model`. Normalization is read from the checkpoint |
| assets. The full checkpoint does not require an additional base-weight |
| download for inference. |
|
|
| ## Configuration |
|
|
| The main view uses `refined = current + offset`, with a 1152→512→1152 |
| projection, eight temporal layers, eight heads, and dropout 0.10. The wrist |
| view remains a current observation. Images are 224×224. Historical visual |
| features are pooled to 4×4 tokens per frame. This checkpoint retains a separate |
| permanent frame0 plus up to 191 history frames, with history stride 10. |
|
|
| Inference predicts 20 actions and executes 10 before replanning. Continuous |
| progress predictions are mapped to the nearest task-specific stage coordinate |
| before conditioning, with two decimal places. The 50k snapshot corresponds to |
| 5k adapter-only steps followed by 45k joint steps; the visual encoder remains |
| frozen. The recorded global training batch is 256. Full numerical settings |
| are retained in `recipe.json` and the saved checkpoint metadata. |
|
|
| ## License |
|
|
| The full pretrained-model checkpoint retains applicable upstream π0.5 / |
| PaliGemma / Gemma terms. See [LICENSE_GEMMA.txt](LICENSE_GEMMA.txt) and |
| [NOTICE](NOTICE). The separately published source code uses Apache-2.0; |
| that source license does not replace the pretrained-weight terms. |
|
|
| Gemma is provided under and subject to the Gemma Terms of Use found at ai.google.dev/gemma/terms |
|
|
| Upstream: [OpenPI](https://github.com/Physical-Intelligence/openpi) and |
| [RoboMemArena](https://github.com/OpenHelix-Team/RoboMemArena). |
|
|
