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pi05_yubi_ee_bimanual_abs
OmakaseAI/pi05_yubi_ee_bimanual_abs
pi05_yubi_ee_bimanual_abs is a robotics model from OmakaseAI. 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.
Absolute-actions twin of pi05yubieebimanual (which uses relative actions). Same everything else: dataset OmakaseAI/yubieebimanual @ main (1471 eps), 20-dim bimanual EE, 30k steps, full-param (vision frozen), 8x H100.
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From the Hugging Face model README
pi05_yubi_ee_bimanual_abs
Absolute-actions twin of pi05_yubi_ee_bimanual (which uses relative
actions). Same everything else: dataset OmakaseAI/yubi_ee_bimanual @ main
(1471 eps), 20-dim bimanual EE, 30k steps, full-param (vision frozen), 8x H100.
Exists to A/B the action representation against the rotation-dim weakness of relative-action EE policies. (Implemented as relative=true + ALL 20 dims in relative_exclude_joints, which is mathematically absolute and avoids the lerobot-0.5.1 processor-registry crash on plain use_relative_actions=false.)
- wandb: omakase-robotics/galaxea_pi05_ee/runs/4koxv7ts
- A/B open-loop eval vs the relative twin: see the training thread.
Serve/inference identical to the relative twin (server returns absolute EE targets either way). Open-loop MSE ≠ closed-loop success.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jul 3, 2026
- Updated
- Jul 3, 2026