Upload converted checkpoint (mirror repo contents)

.gitattributes

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README.md

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+---
+license: apache-2.0
+library_name: openpi
+tags:
+  - robotics
+  - manipulation
+  - pi0.5
+  - openpi
+  - jax
+  - orbax
+pipeline_tag: robotics
+---
+
+# openpi-pi05-real01c-insert-marker-d1-ours-r2-ft-iris
+
+A [Pi0.5](https://www.physicalintelligence.company/blog/pi0-5) model fine-tuned using the [OpenPI](https://github.com/Physical-Intelligence/openpi) framework.
+
+## Model Details
+
+| Property | Value |
+|---|---|
+| OpenPI config | `pi05_sir_droid_finetune` |
+| Checkpoint step | 4999 |
+| Training data | N/A |
+| Precision | bfloat16 |
+| Parameter size | ~6.7 GB |
+| Source checkpoint | `/iris/u/ankile/openpi-pi05-real01c/checkpoints/pi05_sir_droid_finetune/sir_real01c_ours_r2_5k_bs32_iris_h200/4999` |
+| Hugging Face repo | `ankile/openpi-pi05-real01c-insert-marker-d1-ours-r2-ft-iris` |
+| W&B run | [link](https://wandb.ai/self-improving/real-dagger-mining-01c/runs/j2yl9jxj) |
+| SLURM job ID | `15729511` |
+
+## Usage
+
+### Download and run inference
+
+```bash
+# Download checkpoint from HF Hub
+huggingface-cli download ankile/openpi-pi05-real01c-insert-marker-d1-ours-r2-ft-iris --local-dir <local_path>
+
+# Run inference server
+cd deps/openpi
+uv run python scripts/serve_policy.py pi05_sir_droid_finetune \
+  --checkpoint-dir <local_path>
+```
+
+### In-process inference (Python)
+
+```python
+from openpi.training import config as openpi_config
+from openpi.policies import policy_config as openpi_policy_config
+
+train_config = openpi_config.get_config("pi05_sir_droid_finetune")
+policy = openpi_policy_config.create_trained_policy(
+    train_config, "<local_path>"
+)
+result = policy.infer(obs_dict)
+actions = result["actions"]
+```
+
+## Checkpoint Format
+
+[Orbax](https://github.com/google/orbax) format, all parameters in bfloat16.
+
+```
+├── _CHECKPOINT_METADATA
+├── checkpoint_provenance.json
+├── openpi_config.json
+├── assets/
+│   └── (normalization stats)
+└── params/
+    └── (orbax checkpoint files)
+```
+
+## License
+
+Apache 2.0

_CHECKPOINT_METADATA

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assets/droid/norm_stats.json

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checkpoint_provenance.json

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+{
+  "config_name": "pi05_sir_droid_finetune",
+  "checkpoint_step": "4999",
+  "source_checkpoint_dir": "/iris/u/ankile/openpi-pi05-real01c/checkpoints/pi05_sir_droid_finetune/sir_real01c_ours_r2_5k_bs32_iris_h200/4999",
+  "hf_repo_id": "ankile/openpi-pi05-real01c-insert-marker-d1-ours-r2-ft-iris",
+  "hf_model_url": "https://huggingface.co/ankile/openpi-pi05-real01c-insert-marker-d1-ours-r2-ft-iris",
+  "wandb_run_url": "https://wandb.ai/self-improving/real-dagger-mining-01c/runs/j2yl9jxj",
+  "slurm_job_id": "15729511",
+  "exported_at_utc": "2026-06-01T23:45:00.056152+00:00"
+}

openpi_config.json

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+{
+  "config_name": "pi05_sir_droid_finetune"
+}

params/_CHECKPOINT_METADATA

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params/_METADATA

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