---
license: apache-2.0
tags:
- robotics
- vla
- pi0.5
- openpi
- robotwin
---

# pi0.5 RoboTwin 2.0 clean50 50-task SFT

Full fine-tune of OpenPI **pi0.5** on the RoboTwin 2.0 `clean50` 50-task aloha suite.

- Base: `motus-robotics/pi0.5_robotwin2` (pi0.5, aloha 14-dim state/action)
- Training: full fine-tune (PyTorch/DDP), global batch 64, 20,000 steps, cosine LR
- Final train loss ~0.0017 (flow-matching velocity)
- Config: `pi05_robotwin2_clean50_full` / exp `rtw_sft_full_v1`

## Files
- `model.safetensors` — 812-key pi0.5 weights (drop-in for the openpi/RoboTwin pi0.5 eval server)
- `assets/robotwin2/aloha_clean50_50task/norm_stats.json` — state/action norm stats (14-dim)
- `metadata.pt` — training metadata

`optimizer.pt` is intentionally omitted (inference does not need it).