---
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).