pi0.5 realrig pick-and-place LoRA (unmerged, full checkpoint), step 3999

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README.md

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+pi0.5 LoRA fine-tune — Franka pick-and-place on a photo-matched replica of a real lab rig.
+
+- step 3999, full checkpoint: base weights + LoRA factors kept separate (NOT merged)
+- 3.4B params, trained on 495 sim demonstrations, joint delta actions + abs gripper
+- load with openpi config `pi05_realrig_pp_lora_h32_20k` (H=32), which applies the adapters

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params/_sharding

@@ -0,0 +1 @@
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