Franka-Wipe Whiteboard-Ο0.5 Checkpoints SFT
Collection
Franka whiteboard-wiping checkpoints fine-tuned from Physical Intelligence Ο0.5 base on Franka demonstrations. β’ 5 items β’ Updated
Franka Wipe Whiteboard Ο0.5 β step 20000
OpenPI JAX Ο0.5 full-finetuning checkpoint for a franka wipe whiteboard task.
- Base weights: Physical Intelligence
pi05_base - Training step: 20,000 / 20,004
- Global batch size: 32
- Gradient accumulation: 1
- Cameras: external + wrist
- Robot state: 19D continuous Franka state
- Action: 7D body-frame delta action
- Action horizon: 10
- Prompt:
Erase the writing from the whiteboard. - Dataset: dddddsds31341/wipe-whiteboard-lerobot
The repository contains an OpenPI/Orbax checkpoint with EMA parameters and normalization statistics. It is an inference checkpoint and does not include optimizer state for exact training resume.
Use the pi05_franka_wipe_whiteboard OpenPI configuration and point policy.dir to the downloaded repository root.
Robot safety: validate observation ordering, units, normalization statistics, workspace limits, and action execution in a controlled environment before hardware deployment.