---
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`.