npow/servo-pi05-libero-eager-ref

pi0.5 LIBERO checkpoint, PyTorch format

A PyTorch-format conversion of the public openpi pi05_libero checkpoint. The weights are unchanged apart from the format conversion: they were converted with openpi's examples/convert_jax_model_to_pytorch.py from gs://openpi-assets/checkpoints/pi05_libero, and are stored in bfloat16.

• Model: pi0.5 (Physical Intelligence), fine-tuned for LIBERO
• Upstream: Physical-Intelligence/openpi, checkpoint pi05_libero
• Files: model.safetensors, config.json, and the normalization statistics under assets/physical-intelligence/libero/
• Action horizon 10, action dimension 32

License

These weights are derived from PaliGemma and are provided under the upstream terms, including the Gemma Terms of Use. The openpi code is Apache-2.0; that license does not extend to the weights. This repository is a format conversion and adds no training.

Credit

pi0.5 and the openpi checkpoints are by Physical Intelligence. This conversion is provided for convenience; please cite the upstream work.