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XXXXyu/oxygen-pi05-textual-memory-lora

sourceHugging Faceotherupdated 1mo agoView on Hugging Face

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OxyGen pi0.5 LIBERO textual-memory suffix LoRA

This rank-16 LoRA produces observation-grounded textual memory from the current observation, robot state, and task instruction. It is enabled for the private Memory: seed and the autoregressive language suffix. The frozen base model encodes the shared prefix, and the action expert reads the unchanged root KV cache.

Item	Value
Base checkpoint	`gs://openpi-assets/checkpoints/pi05_libero`
Suffix seed	`Memory:`
Maximum suffix length	28 tokens
Held-out token accuracy	98.15%
Greedy exact match	87.25%
Greedy word F1	90.01%
Root-cache/action maximum absolute difference	0 / 0
Adapter overhead	8.16 ms
Shared prefix forward	47.66 ms

Training, evaluation, and serving instructions are in OxyGen under language_adaptation/libero.

The matching derived annotations are available at https://huggingface.co/datasets/xxxxyu/libero-textual-memory-annotations.

OxyGen/openpi code is Apache 2.0. Gemma components remain subject to the Gemma terms distributed with openpi. The base checkpoint is not included here.