---
license: apache-2.0
base_model: lerobot/pi05_base
tags:
- lerobot
- pi05
- robotics
- corkinbox
---

# pi05_corkinbox100_fullrel — Checkpoint 15000

Intermediate checkpoint (step 15000 / 20000) from the `pi05_corkinbox100_fullrel` training run.

- **Base model:** `lerobot/pi05_base`
- **Dataset:** `FabianKerj/corkinbox100-fullrel` (100 eps, 37036 frames, 30 fps, dk1_follower, 2 cameras)
- **Actions:** relative, all 7 dims (including continuous gripper). `relative_exclude_joints: []`.
- **Training:** batch 64, bf16, gradient_checkpointing, LR 2.5e-05 (cosine), ~5s/step on H100.
- **Loss at this checkpoint:** ~0.003
- **Final run:** `FabianKerj/pi05_corkinbox100_fullrel` (step 20000 on `main` branch).

Contains a complete resumable training_state (optimizer, scheduler, rng, step).