---
license: apache-2.0
library_name: openpi
tags:
  - robotics
  - manipulation
  - pi0.5
  - openpi
  - jax
  - orbax
pipeline_tag: robotics
---

# openpi-pi05-routing-d1-baseline-uniform-r0-3cam-crop-20k-idle-ft-delta

A [Pi0.5](https://www.physicalintelligence.company/blog/pi0-5) model fine-tuned using the [OpenPI](https://github.com/Physical-Intelligence/openpi) framework.

## Model Details

| Property | Value |
|---|---|
| OpenPI config | `pi05_sir_droid_finetune_routing_3cam_crop` |
| Checkpoint step | 24 |
| Training data | N/A |
| Precision | bfloat16 |
| Parameter size | ~6.7 GB |
| Source checkpoint | `/work/hdd/bgdg/lankile/sir-workspace/self-improving-robots/deps/openpi/checkpoints/pi05_sir_droid_finetune_routing_3cam_crop/sir_01b_routing_d1_r0_baseline_uniform_pi05_3cam_crop_20k_bs32_idle_delta/24` |
| Hugging Face repo | `ankile/openpi-pi05-routing-d1-baseline-uniform-r0-3cam-crop-20k-idle-ft-delta` |
| W&B run | [link](https://wandb.ai/self-improving/real-dagger-mining-01b/runs/37kea88a) |
| SLURM job ID | `19976891` |

## Usage

### Download and run inference

```bash
# Download checkpoint from HF Hub
huggingface-cli download ankile/openpi-pi05-routing-d1-baseline-uniform-r0-3cam-crop-20k-idle-ft-delta --local-dir <local_path>

# Run inference server
cd deps/openpi
uv run python scripts/serve_policy.py pi05_sir_droid_finetune_routing_3cam_crop \
  --checkpoint-dir <local_path>
```

### In-process inference (Python)

```python
from openpi.training import config as openpi_config
from openpi.policies import policy_config as openpi_policy_config

train_config = openpi_config.get_config("pi05_sir_droid_finetune_routing_3cam_crop")
policy = openpi_policy_config.create_trained_policy(
    train_config, "<local_path>"
)
result = policy.infer(obs_dict)
actions = result["actions"]
```

## Checkpoint Format

[Orbax](https://github.com/google/orbax) format, all parameters in bfloat16.

```
├── _CHECKPOINT_METADATA
├── checkpoint_provenance.json
├── openpi_config.json
├── assets/
│   └── (normalization stats)
└── params/
    └── (orbax checkpoint files)
```

## License

Apache 2.0