| --- |
| license: apache-2.0 |
| tags: [robotics, openpi, pi05, lerobot, uf850] |
| --- |
| |
| # farm_uf850_pi05_clean — π0.5 PiSSA fine-tunes for the FARM UF850 (home_full) |
|
|
| Four servable openpi checkpoints trained 2026-07-19 on |
| [NoahWeiss/farm_uf850_home_full](https://huggingface.co/datasets/NoahWeiss/farm_uf850_home_full) |
| (1153 episodes / 397k frames / 30 fps, UF850 arm, base + wrist RealSense): |
|
|
| | Path | What | |
| |---|---| |
| | `farm_soup_s42/14999` | **recommended** — temporal soup (equal-mean of steps 10000+14999), seed 42 | |
| | `farm_soup_s43/14999` | seed-43 twin soup | |
| | `farm_clean_s42/14999` | seed-42 final (EMA 0.999 weights) | |
| | `farm_clean_s43/14999` | seed-43 final (EMA 0.999 weights) | |
|
|
| Recipe: π0.5 base, PiSSA-initialized LoRA r64, masked loss + zero-padded noise |
| source on the 7 real action dims (of 32), M-draw 4, EMA 0.999, 15k steps, |
| batch 32. Each dir holds openpi-format `params/` + `assets/` (norm stats ride |
| along; optimizer state stripped). |
|
|
| ## Serving (openpi) |
|
|
| ```bash |
| OPENPI_LORA_RANK=64 OPENPI_ZEROPAD=7 \ |
| uv run scripts/serve_policy.py --port 8000 policy:checkpoint \ |
| --policy.config pi05_farm_clean \ |
| --policy.dir <download>/farm_soup_s42/14999 |
| ``` |
|
|
| Contract (must match — details + full arm runbook in |
| [NoahWeiss123/farm `model/FARM_CLEAN_ARM_RUNBOOK.md`](https://github.com/NoahWeiss123/farm/blob/chef-fft/model/FARM_CLEAN_ARM_RUNBOOK.md)): |
| `OPENPI_LORA_RANK=64` and `OPENPI_ZEROPAD=7` at serve; action_horizon=50; |
| outputs are ABSOLUTE joint targets (6 joints rad + gripper 0..1), 7 dims; |
| obs keys `observation/image` (base cam), `observation/wrist_image`, |
| `observation/state` (7,), `prompt` = a trained task string verbatim; |
| 224x224 resize-with-pad. Client: `model/eval_pi05.py` with `--no-rtc`. |
| The `pi05_farm_clean` TrainConfig lives in the farm repo cluster patches |
| (clean-contract port of `pi05_farm_pissa` with EMA + home_full). |
| |
