pi05-b1k10t-ogfilter-lr2.5e5

Hoshipu/pi05-b1k10t-ogfilter-lr2.5e5

pi05-b1k10t-ogfilter-lr2.5e5 is a robotics model from Hoshipu. 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 mit.

Fine-tune of pi0.5 on the official BEHAVIOR-1K 10-task combined dataset (b1kofficial10taskscombined), 1960 episodes / 18M frames, R1Pro robot.

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Updated Jun 19, 2026

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At a glance

Task: Robotics
Library: lerobot
License: mit
Access: Public
Created: Jun 12, 2026
Updated: Jun 19, 2026
SHA: 33316999

Model card

From the Hugging Face model README

pi0.5 — BEHAVIOR-1K 10-Task Combined (pi05-b1k10t-ogfilter-lr2.5e5)

Fine-tune of pi0.5 on the official BEHAVIOR-1K 10-task combined dataset (b1k_official_10tasks_combined), 1960 episodes / 18M frames, R1Pro robot.

Training details


Base model	`pi05_base`
Dataset	`Hoshipu/b1k_official_10tasks_combined` (1960 eps, 18M frames)
Steps	200 000
Peak LR	2.5e-5 (cosine decay, 2k warmup)
Batch size	32
FSDP devices	8
Action horizon	50

Tasks trained on

The model was jointly trained on the following 10 BEHAVIOR-1K tasks (B1K task IDs from the full 50-task benchmark):

B1K Task ID	Task
0	Turn on the radio receiver that's on the table in the living room.
1	Put the three can of soda from the living room inside the trash can in the kitchen.
5	Take the four mousetraps from the cabinet in the bathroom and place them on the bathroom floor. Make sure all four end up on the same floor surface, and ensure that at least two of them are either under or directly next to the same bathroom sink.
9	In the living room, take the wreath, three candy canes, and two pillar candles out of the wicker basket. Place the wreath and two of the candy canes on the same living-room sofa. Put the remaining candy cane on top of a dining-room table. Put both pillar candles together on top of one dining-room table. Finally, place all three gift boxes under or right next to the Christmas tree in the living room.
10	Set up a coffee station on the kitchen countertop: keep the coffee maker on the countertop, move the bottle of coffee from the kitchen shelf to the counter next to the coffee maker, place a paper coffee filter on top of the coffee maker, put the saucer next to the coffee maker with the coffee cup on the saucer, and place the electric kettle next to the coffee maker.
18	In the bedroom, move the book from the bed onto either nightstand, and place the two sandals side by side next to the bed.
21	Pick up the two dice from the bed, the two teddy bears from the floor, and the two board games (one from the desk and one from the bed), and place them all inside the same bookcase in the child's room.
22	Pick up the two gym shoes and the two sandals from the corridor floor and place them onto the hallstand (shoe rack) in the corridor, making sure they are on the rack and not on the floor. Arrange them so the two gym shoes are next to each other and the two sandals are next to each other.
31	Wash the two dusty boxing gloves from the countertop in the utility room in the washer until they are no longer covered with dust.
32	Wash the two baseball caps on the countertop in the utility room using the washer until they are no longer dirty.

Checkpoints

Checkpoint	Steps
`ckpt-200000`	200 000 (final)

Each checkpoint folder contains params/ (model weights) and assets/norm_stats.json (normalisation statistics). train_state/ is excluded.

Usage

from transformers import AutoConfig, AutoModel

REPO = "Hoshipu/pi05-b1k10t-ogfilter-lr2.5e5"
CKPT = "ckpt-200000"

config = AutoConfig.from_pretrained(REPO, subfolder=CKPT, trust_remote_code=True)
model  = AutoModel.from_pretrained(REPO, subfolder=CKPT, trust_remote_code=True)

Task: Robotics
Library: lerobot
License: mit
Created: Jun 12, 2026
Updated: Jun 19, 2026