openpi ALOHA Checkpoints

This repository contains JAX/Flax Orbax (OCDBT) checkpoints trained using the openpi codebase.

Structure

checkpoints//experiment//

Each <step> directory is a complete Orbax checkpoint (directory-based, sharded).

Notes

These are NOT PyTorch .pt checkpoints
Load using openpi + Orbax
Intended for reproducibility and evaluation

Example download

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="<username>/openpi-aloha-checkpoints",
    allow_patterns="checkpoints/pi0_dragfm_aloha_insertion_human/**",
)

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