| tags: | |
| - robotics | |
| - robocasa | |
| - openpi | |
| - vision-language-action | |
| # RoboCasa OpenPI Checkpoints | |
| This private repository contains 24 final checkpoints from the RoboCasa365 | |
| three-arm study: | |
| - 8 manipulation tasks | |
| - 3 data arms: `native`, `ours`, and `native_plus_ours` | |
| - seed 0 | |
| - π0.5 base with LoRA fine-tuning | |
| - 8,000 training steps, batch size 64 | |
| - final checkpoint directory: `seed-0/7999` | |
| ## Layout | |
| ```text | |
| checkpoints/ | |
| pi05_robocasa365_<TASK>_<ARM>_lora_b64_8k_fixed_instruction/ | |
| seed-0/ | |
| 7999/ | |
| ``` | |
| ## Provenance | |
| - Code: `josef5838/robocasa_openpi` | |
| - Code commit: `bf4f4b01f55b6fea4e7f223d3420e69e2e70ef37` | |
| - Dataset: `Josef5838/robocasa_for_articulated_objects` | |
| - Dataset commit: `0fb7a7fb0f5741dd1a5334533a1ef4ee8ea41f89` | |
| Evaluation metrics are included in `metrics_report.md` and `metrics.csv`. | |