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franka-pico4-pi0
Exile051112/franka-pico4-pi0
franka-pico4-pi0 is a machine learning model from Exile051112. Use it for the machine learning task on the model card, and read the license before you ship it in a product.
This repository contains independent Pi0 PEFT LoRA checkpoints trained with the official PyTorch LeRobot workflow. Each condition is stored in its own folder.
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Updated Aug 29, 2026
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At a glance
- Access
- Public
- Created
- Aug 28, 2026
- Updated
- Aug 29, 2026
- SHA
- 6a0aba1a
Model card
From the Hugging Face model README
Franka Pico4 Pi0 Models
This repository contains independent Pi0 PEFT LoRA checkpoints trained with the official PyTorch LeRobot workflow. Each condition is stored in its own folder.
| Folder | Training data | Status |
|---|---|---|
c1_red_yellow_real | 5 red real + 5 yellow real | 10k steps |
c2_red_yellow_blue_real | 5 red real + 5 yellow real + 5 blue real | 10k steps |
c3_red_yellow_blue_edited | 5 red real + 5 yellow real + 5 blue edited | 10k steps |
c4_red_yellow_real_blue_sim | 5 red real + 5 yellow real + 5 blue simulated | 10k steps |
c5_red_yellow_blue_sim | 5 red simulated + 5 yellow simulated + 5 blue simulated | 10k steps |
All experiment folders contain checkpoints at 2k, 4k, 6k, 8k, and 10k steps.
The adapters use PEFT LoRA (r=16, alpha=16), batch size 4, bfloat16, and
gradient checkpointing. Loading requires the matching Pi0 base, tokenizer, and
the selected condition folder.
The evaluation target is the blue Franka/Pico4 setup. The datasets use the robot-specific 17-D state, 10-D TCP action, top/wrist RGB streams, and 30 FPS.
- Created
- Aug 28, 2026
- Updated
- Aug 29, 2026