Downloads · 30 days
0
pi05_xarm_dishwasher_points9_arrow_len0_lora
EdwardoSunny/pi05_xarm_dishwasher_points9_arrow_len0_lora
pi05_xarm_dishwasher_points9_arrow_len0_lora is a robotics model from EdwardoSunny. 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 other.
pi0.5 (openpi) LoRA fine-tune for the xArm dishwasher task ("pull the basket outside of the dishwasher and pick up the mug and put it into the basket"), trained on camera frames with the points9arrowlen0 tactile overl…
Access
Public
Updated Aug 10, 2026
Repo size
6.3 GB
Likes
0
Public
Repo makeup
Click a slice to open those files.
Other6.3 GB · 100%
At a glance
- Task
- Robotics
- License
- other
- Access
- Public
- Created
- Aug 10, 2026
- Updated
- Aug 10, 2026
- SHA
- 122dc598
Base models
Model card
From the Hugging Face model README
pi05_xarm_dishwasher_points9_arrow_len0_lora
pi0.5 (openpi) LoRA fine-tune for the xArm dishwasher task ("pull the basket outside of the dishwasher and pick up the mug and put it into the basket"), trained on
camera frames with the points9_arrow_len0 tactile overlay: 9 tactile-pad dots per
finger at FK-projected positions, force arrows at zero length — the force-information
ablation of points9_arrow.
Training
| Base | pi05_droid (knowledge-insulated pi0.5, DROID pre-training) |
| Recipe | LoRA r16/a16 on Gemma-2B backbone + r32/a32 on 300M action expert, attn+ffn |
| Batch / LR | 8 / cosine 1e-4 -> 1e-5, 500 warmup, AdamW, grad-clip 1.0 |
| Data | EdwardoSunny/xarm_dishwasher_points9_arrow_len0 (100 eps, 28096 frames) |
| Early stop | step 7800 (rolling-1k-window <0.5% rel. improvement, 2 consecutive checks) |
| Final train loss | 0.0287 (baseline no-overlay: 0.029; full points9_arrow: 0.024) |
Training-loss comparison across this task's variants (identical hyperparameters/protocol, only the burned-in overlay differs) — see the collection for all four tasks.
Contents
params/— merged base+LoRA weights (orbax), self-contained for inferenceassets/local/xarm_dishwasher_points9_arrow_len0/norm_stats.json— state/action normalization- Optimizer state stripped (inference-ready). Config name:
pi05_xarm_dishwasher_points9_arrow_len0_lora
Deployment note
At inference, render the live camera frames with the SAME overlay
(SensorDrawer mode points9_arrow, arrow_length_scale=0, thickness 8, dot size 22)
or the policy will be out-of-distribution. See tactile-data-collection/scripts/render_arrowlen0.py.
- Task
- Robotics
- License
- other
- Created
- Aug 10, 2026
- Updated
- Aug 10, 2026