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docs(g05): omit private checkpoint revisions

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Pepijn
2026-07-29 15:37:53 +02:00
parent 6d2c3bb1e2
commit 3dee8e640a
1 changed files with 7 additions and 14 deletions
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docs/source/g05.mdx
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@@ -33,21 +33,14 @@ ActionCodec metadata, statistics, exact prompt template, source revision, and
license. Loading rejects a different head, horizon, processor mode, or license. Loading rejects a different head, horizon, processor mode, or
normalization contract. normalization contract.
The converted checkpoints are private under the LeRobot organization and pinned The converted checkpoints are private under the LeRobot organization:
to the revisions validated for this integration:
| Repository | Revision | Contract | | Repository | Contract |
| ------------------------ | ------------------------------------------ | ---------------------------- | | ------------------------ | ---------------------------- |
| `lerobot/g05_base` | `a74ab9a849a8e5220e2ec3c0ac94e1bcadb000d4` | 27D base, R1 Lite processor | | `lerobot/g05_base` | 27D base, R1 Lite processor |
| `lerobot/g05_libero` | `cea5cb93bf98264d5b8b498c64b18b5b768aa1ed` | 20D LIBERO | | `lerobot/g05_libero` | 20D LIBERO |
| `lerobot/g05_robotwin20` | `f3405ee0f995a7ee9bdb6992353445cae32efe54` | 20D RoboTwin | | `lerobot/g05_robotwin20` | 20D RoboTwin |
| `lerobot/g05_so101` | `6379367ea401bb8ff1f954848721e140d8260060` | 20D SO-101 (`so100` profile) | | `lerobot/g05_so101` | 20D SO-101 (`so100` profile) |
The named `atomic_4` adapter is intentionally separate from LIBERO. Its raw state
is EEF relative xyz+quaternion, base xyz+quaternion, and two gripper positions
(16D). Its action is EEF delta xyz+rpy, gripper, four mobile-base commands, and a
control-mode flag (12D). This needs G0.5's 27D whole-body layout; a released 20D
LIBERO checkpoint is rejected.
`lerobot/g05_base` supplies those 27D model weights, both action heads, the `lerobot/g05_base` supplies those 27D model weights, both action heads, the
ActionCodec tokenizer, and the released six-step R1 Lite processor/statistics ActionCodec tokenizer, and the released six-step R1 Lite processor/statistics