Pi0.5 UMI Single-Franka — SFT Step 20000
This is an RLinf deployment export of the global_step_20000 SFT checkpoint
for the UMI single-Franka stack_cubes_umi_1_franka task.
The checkpoint was converted from the RLinf FSDP training format to the bare OpenPI PyTorch format expected by the RLinf real-world evaluator. All floating point tensors are stored as BF16.
Files
model.safetensors: Pi0.5 model weights.config.json: Pi0.5 model architecture configuration.norm_stats/norm_stats.json: task normalization statistics.
Download
hf download <OWNER>/<REPOSITORY> --local-dir /path/to/pi05_step_20000
For a private repository, authenticate first with hf auth login using an
account that has read access.
RLinf deployment
From the RLinf repository root:
bash evaluations/run_umi_left_franka_eval.sh \
--model_path /path/to/pi05_step_20000 \
--norm_stats_path /path/to/pi05_step_20000/norm_stats \
--wrist_camera <WRIST_CAMERA_SERIAL> \
--front_camera <FRONT_CAMERA_SERIAL>
The evaluator also requires the Franka and OpenPI runtime environments described in the RLinf real-world evaluation documentation.
Checkpoint metadata
- Training step:
20000 - Policy: Pi0.5, single Franka, TCP rotation-6D action space
- Action dimension:
10 - Action chunk used by RLinf:
20 - Export dtype:
bfloat16 - Number of tensors:
667
This export is intended for deployment and evaluation. It does not contain the optimizer or dataloader state required to resume FSDP training.