π0.5 Piper Take-Cup-Off-Rack Right-Arm LoRA
OpenPI/JAX π0.5 LoRA checkpoint trained for 5,000 steps on
take_off_cup_short8_right7d_pi05_rgb224_v22 (8 episodes, 4,492 frames).
The exact language prompt is:
take the cup off the rack and place it on the plate
Runtime contract
- RGB inputs: top and right wrist, letterboxed to 224×224.
- State/action: 7-D
right[j1..j6, gripper_m]; the six joint targets are trained as state-relative deltas and the gripper remains absolute. - Recorded action supervision contains absolute joint-angle targets in radians.
- Grippers are meters and are clipped to
[0, 0.08]at the policy boundary. - Action horizon: 30.
- OpenPI config:
pi05_piper_take_cup_right_lora.
Normalization statistics under assets/ and the bundled OpenPI overlay are
required. The validation report checks checkpoint loading and inference pipeline
integrity; it is not a real-robot success-rate evaluation.