agengt-vla

Parcel Sorter v21: PI0.5 DROID + LoRA

This release contains the complete upstream lerobot/pi05_droid checkpoint at revision 72824c0a93f00ce5bb8bedb7feb58953ba1da364 and the project v21 rank-16 LoRA adapter used for grasp-mode routing in the Parcel Sorter ROCm simulation.

本仓库包含完整的 lerobot/pi05_droid 基座快照，以及 Parcel Sorter ROCm 使用的 v21 rank-16 LoRA adapter。基座和 adapter 分目录保存，避免把上游权重与项目微调 权重混为一体。

Files / 文件结构

base/pi05-droid/
  config.json
  model.safetensors
  policy_preprocessor.json
  policy_postprocessor.json
  DROID_LOCAL_BUNDLE_MANIFEST.json
adapters/v21/
  adapter_model.safetensors
  adapter_config.json
  config.json
  policy_preprocessor.json
  policy_postprocessor.json
  *_CONTRACT.json
  train_config.json
MANIFEST_SHA256.txt

Identity / 身份与哈希

Use with Parcel Sorter ROCm / 项目加载方式

hf download L2658183739/agengt-vla --repo-type model \
  --local-dir models/agengt-vla

export PARCEL_PI05_BASE_MODEL="$PWD/models/agengt-vla/base/pi05-droid"
export PARCEL_PI05_V21_CHECKPOINT="$PWD/models/agengt-vla/adapters/v21"

The project runtime uses PARCEL_PI05_BASE_MODEL to relocate the base path stored in PEFT metadata. Do not edit adapter_config.json or create a fixed server path.

项目运行时优先读取 PARCEL_PI05_BASE_MODEL，因此下载后无需修改 adapter metadata。 完整运行代码见 2658183739/Radeon-hackathon-2026-07。

Adapter contract / Adapter 合约

• Inputs: overhead RGB-D, left-wrist RGB-D, observable 68-D state, and task text.
• Output contract: 21-D incremental_se3_deployment_v2, chunk size 30.
• Structured heads: top suction, side suction, cooperative cradle, and primitive progress.
• Training record: 137,389 frames at 30 Hz; dataset manifest SHA-256 691182a30a7f1f628997faa7fe9b3eee16c93bb9483261eb0efc71dabd57d2ff.

Evaluation boundary / 结果边界

The recorded system is an Agent-conditioned, v21 VLA-routed, scripted-motion hybrid. In three delivered Genesis episodes, v21 selected side_suction by a 3/3 vote and the deterministic controller completed 0.531-0.554 m transport. Continuous VLA actions were shadowed with applied_physics_steps=0. Strict pure-VLA parcel control remains 0/3.

当前 3 条成功轨迹只能证明 v21 参与了抓取模式路由；连续动作由脚本控制器执行， 不能写成纯 VLA 成功，也不是实机或 Sim-to-Real 结果。

Agent boundary / Agent 边界

The successful run requested gpt-5.6-luna, but the audited gateway call used the declared gpt-5.5 fallback. The Agent supplied high-level task conditioning only and emitted no servo, Cartesian, joint, or tool command. No API key is stored in this model repository.

Upstream terms / 上游条款

The base files are an unmodified mirror of lerobot/pi05_droid at the revision listed above. At verification time, that upstream model repository exposed no model-card license field and no LICENSE file. The license: other metadata on this repository therefore avoids assigning new terms to third-party weights. Users must review the upstream model, PaliGemma/Gemma, LeRobot, and dataset terms before redistribution or commercial use. Project-authored adapter metadata and code remain subject to their respective repository notices.