| --- |
| license: apache-2.0 |
| tags: |
| - pi0.5 |
| - openpi |
| - gguf |
| - quantized |
| - vla |
| base_model: zestcode5/ur3-5task-v1 |
| --- |
| |
| # Pi 0.5 UR3 5-task — GGUF (Q8_0 LLM + Q4_K vision + Q5_K embed) |
| |
| Quantized GGUF export of `zestcode5/ur3-5task-v1` (step 6000) for inference with |
| [OmniModel.cpp](https://github.com/) Pi 0.5 C++ runtime. |
| |
| ## Quantization |
| |
| | Component | Quant | bpw | |
| |------------------|---------|-------| |
| | Vision (SigLIP) | Q4_K | 4.55 | |
| | Embedding | Q5_K | 5.50 | |
| | PaliGemma LLM | Q8_0 | 8.50 | |
| | Action expert | F16 | 16.0 | |
| | **Total file** | mixed | **8.47** | |
|
|
| File size: ~3.6 GB. V+LLM avg bpw: 7.38. |
|
|
| ## Files |
|
|
| - `pi05.gguf` — unified GGUF (vision + projector + LLM + action expert + embedding + norm stats). |
| - `tokenizer.model` — SentencePiece tokenizer (PaliGemma). |
| - `norm_stats.json` — action/state mean/std/q01/q99 from the UR3 5-task dataset. |
|
|
| ## Tasks |
|
|
| The base model was fine-tuned on `zestcode5/ur3-merged-5tasks-v1`. Calibration excluded |
| "open the pot by removing its lid". Supported task prompts: |
|
|
| - `pick up the pink cylinder and place it in the orange box` |
| - `pick up the white glass and put on a brown coaster` |
| - `Remove cup from nested cups` |
| - `Single-finger push to blue marker` |
|
|
| ## Inference |
|
|
| CLI: |
|
|
| ``` |
| ./bin/pi05 -m /path/to/this/dir -i frame.png -p "<task prompt>" -d CUDA -s 10 |
| ``` |
|
|
| WebSocket policy server (with the modified `serve_policy.py`): |
|
|
| ``` |
| uv run scripts/serve_policy.py policy:gguf \ |
| --policy.dir=/path/to/this/dir \ |
| --policy.device=CUDA --policy.steps=10 --policy.action-dim=7 \ |
| --port=8000 |
| ``` |
|
|
| Robot client uses OpenPI's `WebsocketClientPolicy` and sends an obs dict with |
| keys `observation.images.fixed`, `observation.images.cam_wrist`, |
| `observation.state` (11-dim), and `prompt`. |
|
|
