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 policy ships in two forms: assets/ holding its normalization statistics. implementation (model.safetensors + the same assets/), which is what runs on NVIDIA Jetson AGX Thor. Each conversion passed a same-noise JAX-vs-PyTorch equivalence check (numbers under PyTorch conversion below). serving/ holds everything else needed to run them: the openpi overlay that defines this action space, a multi-policy server, a Dockerfile for Thor, and the conversion + check scripts. See serving/thor/README.md. 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…

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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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