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pi05_g1_stack_cube
Brankozz/pi05_g1_stack_cube
pi05_g1_stack_cube is a robotics model from Brankozz. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as apache-2.0.
Fine-tuned from pi05base (openpi) on dataset yigao7117/stackcubev3 (Unitree G1 + Dex1 grippers, 16-dim joint state/action, 3 cameras, 30 fps, 50 episodes).
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Updated Jul 20, 2026
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At a glance
- Task
- Robotics
- License
- apache-2.0
- Access
- Public
- Created
- Jul 20, 2026
- Updated
- Jul 20, 2026
- SHA
- d5736c83
Model card
From the Hugging Face model README
pi0.5 fine-tuned on Unitree G1 stack-cube (action-horizon A/B)
Fine-tuned from pi05_base (openpi) on dataset yigao7117/stack_cube_v3
(Unitree G1 + Dex1 grippers, 16-dim joint state/action, 3 cameras, 30 fps, 50 episodes).
h30/— action_horizon=30 (1.0 s chunk), steps 5000–29999h15/— action_horizon=15 (0.5 s chunk), steps 5000–29999
Each step dir contains params/ (EMA weights, for inference) and assets/ (norm stats).
Delta joint actions (14 arm dims), absolute grippers; quantile normalization.
Train configs: pi05_g1_stack_h30 / pi05_g1_stack_h15 in the accompanying openpi fork.
- Task
- Robotics
- License
- apache-2.0
- Created
- Jul 20, 2026
- Updated
- Jul 20, 2026