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pi05_pick_orange_full
Aikwed/pi05_pick_orange_full
pi05_pick_orange_full is a robotics model from Aikwed. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot.
This repository contains the complete public LeRobot inference checkpoint for a PI0.5 policy fine-tuned on Aikwed/pickorangejointlimited.
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Model card
From the Hugging Face model README
PI0.5 Pick Orange (LeIsaac Sim2Sim)
This repository contains the complete public LeRobot inference checkpoint for a PI0.5 policy fine-tuned on Aikwed/pick_orange_joint_limited.
The policy predicts six SO-101 joint-position actions from the robot state, a wrist RGB camera, a front RGB camera, and the task instruction. It was trained and evaluated for the Pick Orange task in LeIsaac using a simulation-to-simulation (sim2sim) workflow.
Scope and limitations
- Robot: SO-101 Follower
- Simulator: LeIsaac / Isaac Sim
- Task: Pick Orange
- Evaluation setting: sim2sim
- Real-robot deployment has not been validated.
The public model.safetensors file contains the model weights. The processor JSON and safetensors files are required for inference with the matching LeRobot version.
- Task
- Robotics
- Library
- lerobot
- Created
- Jul 19, 2026
- Updated
- Jul 19, 2026