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pi05_sweep_v2_01_freeze_01_full
DreamMachines/pi05_sweep_v2_01_freeze_01_full
pi05_sweep_v2_01_freeze_01_full is a robotics model from DreamMachines. 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. The card lists the license as apache-2.0.
π₀.₅ (Pi05) — Vision-Language-Action model with open-world generalization, from Physical Intelligence. See the π₀.₅ blog post.
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Model card
From the Hugging Face model README
pi05_sweep_v2/01_freeze/01_full
π₀.₅ (Pi05) — Vision-Language-Action model with open-world generalization, from Physical Intelligence. See the π₀.₅ blog post.
Trained with LeDream (a fork of LeRobot).
Training
- Base model:
lerobot/pi05_base - Dataset:
DreamMachines/actuator_unboxing_20h_345 - Step (this revision):
100000 - Batch size:
32 - Total steps target:
210000 - Optimizer:
adamw(lr5e-05)
Available revisions
Every training checkpoint is uploaded as its own git revision; the latest is also on main. Load a specific step with:
from lerobot.policies.factory import make_policy
from lerobot.configs.policies import PreTrainedConfig
cfg = PreTrainedConfig.from_pretrained("DreamMachines/pi05_sweep_v2_01_freeze_01_full", revision="v002000")
policy = make_policy(cfg)
Available: v010000, v020000, v030000, v040000, v050000, v060000, v070000, v080000, v090000, v100000
Quick eval on a real DK1
make eval MODEL=DreamMachines/pi05_sweep_v2_01_freeze_01_full
See docs/source/policy_pi05_README.md for π₀.₅-specific notes.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jul 6, 2026
- Updated
- Jul 7, 2026