chqzhu/pi05-g1-ikea-joint

robotics model by chqzhu

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Five π0.5 policies, one per subtask of an IKEA table assembly, fine-tuned from pi05base for the Unitree G1 (29-DoF, Dex1-1 grippers). Each subfolder is a complete openpi checkpoint: an Orbax params/ store plus the assets/ holding its normalization statistics. The saved params/ are the EMA weights (decay 0.99, ≈100-step averaging window), not the final raw optimizer iterate — openpi writes emaparams in place of params when EMA is enabled. State and action are 16-dimensional: State comes from rt/lowstate; actions are rt/lowcmd (armsdk) targets, so the policy commands what a teleoperator's controller commanded — no IK anywhere. The source datasets store 19 dims (these 16 plus waist yaw/roll/pitch); the policies consume the leading 16 and leave the waist to the robot's own balance controller. Internally the 14 arm dims are trained as deltas against the observation's state while both grippers stay absolute (makeboolmask(14, -2)). openpi's AbsoluteActions inverts this at inference, so…

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Model overview

chqzhu/pi05-g1-ikea-joint is a robotics model repository published by chqzhu on Hugging Face. The source reports the openpi library.

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Model facts

Task: robotics
Library: openpi
Recent downloads (30 days): 0
Cumulative likes: 0
Hugging Face trending score: 0
Reported safetensors parameters: Not reported
Architecture: Not reported
License: apache-2.0
Access: Not gated by Hugging Face
Created: 2026-09-20T06:13:32.000Z
Last modified: 2026-09-20T06:22:07.000Z

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