ry-5/pi0_candy_garlic

PI0 Candy and Garlic Pickup Model

This model is trained using the OpenPI framework for the task of picking up candy and garlic objects and placing them in a bowl.

Model Details

• Model Type: PI0 (Physical Intelligence Zero)
• Task: Pick up candy and garlic, and put it in the bowl
• Config: pi0_candy_garlic_pickup
• Training Steps: 40,000
• Action Horizon: 50
• Framework: OpenPI

Usage

# Load the model using OpenPI
from openpi.training.config import get_config
from openpi.training import weight_loaders

# Get the config
config = get_config("pi0_candy_garlic_pickup")

# Load the model weights
weight_loader = weight_loaders.CheckpointWeightLoader("ry-5/pi0_candy_garlic")
# ... rest of your inference code

Training Configuration

The model was trained with the following configuration:

• Repository: ry-5/garlic_and_candy
• Default prompt: "pick up the candy and garlic, and put it in the bowl"
• Save interval: 2000 steps
• Keep period: 20000 steps
• Action horizon: 50

Files

• params/: Model parameters in Orbax format
• train_state/: Training state including optimizer state
• assets/: Associated assets including normalization statistics
• _CHECKPOINT_METADATA: Checkpoint metadata

Citation

If you use this model, please cite the OpenPI framework.