Add README
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README.md
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---
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license: apache-2.0
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base_model: lerobot/pi05_base
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tags:
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- lerobot
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- pi05
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- robotics
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- corkinbox
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---
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# pi05_corkinbox100_fullrel — Checkpoint 15000
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Intermediate checkpoint (step 15000 / 20000) from the `pi05_corkinbox100_fullrel` training run.
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- **Base model:** `lerobot/pi05_base`
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- **Dataset:** `FabianKerj/corkinbox100-fullrel` (100 eps, 37036 frames, 30 fps, dk1_follower, 2 cameras)
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- **Actions:** relative, all 7 dims (including continuous gripper). `relative_exclude_joints: []`.
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- **Training:** batch 64, bf16, gradient_checkpointing, LR 2.5e-05 (cosine), ~5s/step on H100.
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- **Loss at this checkpoint:** ~0.003
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- **Final run:** `FabianKerj/pi05_corkinbox100_fullrel` (step 20000 on `main` branch).
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Contains a complete resumable training_state (optimizer, scheduler, rng, step).
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