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pi05_rlt_busybox_multitask_singlearm_minmax
AutoRLBench/pi05_rlt_busybox_multitask_singlearm_minmax
pi05_rlt_busybox_multitask_singlearm_minmax is a robotics model from AutoRLBench. Use it for the robotics task on the model card, and read the license before you ship it in a product.
RL-token encoder/decoder (RLT Stage 1) on the frozen prompt-fix π0.5 minmax multitask checkpoint. This is what hwcontrol.pi0rlt loads to extract tokens.
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Public
Updated Sep 16, 2026
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At a glance
- Task
- Robotics
- Access
- Public
- Created
- Sep 16, 2026
- Updated
- Sep 16, 2026
- SHA
- 71b03d70
Datasets
Model card
From the Hugging Face model README
pi05_rlt_busybox_multitask_singlearm_minmax
RL-token encoder/decoder (RLT Stage 1) on the frozen prompt-fix π0.5 minmax multitask checkpoint. This is what hw_control.pi0_rlt loads to extract tokens.
Same relative 6D recipe as the VLA (pravsels/pi05_busybox_multitask_minmax): 5 joints delta, gripper absolute, per-timestep min/max in q01/q99. Prompts are remapped per frame (prompt_from_task, RCW git main #597aa9ad).
| Policy | π0.5 + RLT (Pi0RLConfig, pi05=true) |
| Frozen VLA | pravsels/pi05_busybox_multitask_minmax (W&B swjv9hbs) |
| Dataset | villekuosmanen/busybox_multitask (66 episodes, 27 tasks) |
| Prompt | prompt_from_task (27 remapped instructions; no single default) |
| Action dim | 6 (single-arm; 5 joints delta, gripper absolute) |
| Cameras | top → base_0_rgb, wrist → left_wrist_0_rgb, front → base_1_rgb |
| Training | GCloud 1× A100 80GB, VLA frozen (rl_vla_loss_weight=0.0), 20k steps, global batch 16, action horizon 30 |
| Norm | per-timestep min/max in q01/q99 (Hub assets copied, not recomputed) |
| W&B project | busybox_multitask_rlt_singlearm_minmax |
| W&B run | 93keszgb |
Checkpoints
main is the finalized 20k checkpoint (params/ + assets/ at the repo root). train_state/ is not published.
| Field | Value |
|---|---|
| Latest published | main (params/, step 19999) |
| Config | pi05_rlt_busybox_multitask_singlearm_minmax |
| Code | 90490b9 on task/rlt_busybox_multitask |
| Runtime | 4h 13m (2026-09-03 12:16 UTC → 16:28 UTC) |
| Train loss | 10755.68 (step 0) → 293.81 (step 19900) |
Usage
from huggingface_hub import snapshot_download
from openpi.policies import policy_config
from openpi.training.config import get_config
ckpt = snapshot_download("pravsels/pi05_rlt_busybox_multitask_singlearm_minmax")
policy = policy_config.create_trained_policy(
get_config("pi05_rlt_busybox_multitask_singlearm_minmax"),
ckpt,
)
uv run scripts/serve_policy.py \
--policy.config=pi05_rlt_busybox_multitask_singlearm_minmax \
--policy.dir=/path/to/pravsels/pi05_rlt_busybox_multitask_singlearm_minmax
- Task
- Robotics
- Created
- Sep 16, 2026
- Updated
- Sep 16, 2026