Downloads · 30 days
8
11% of all-time downloads
pi05_yubi_ee_pickplace_v2
OmakaseAI/pi05_yubi_ee_pickplace_v2
pi05_yubi_ee_pickplace_v2 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.
pi05 on the cleaned (v2) pick-and-place subtask dataset — the recommended pickplace checkpoint (supersedes pi05yubieepickplace).
All-time downloads
71
Public
Parameters
4.1B
9.4 GB on disk
Likes
0
Public
Repo makeup
Click a slice to open those files.
.safetensors9.4 GB · 100%
Parameter types
How the weights are stored.
BF163.6B · 87%
Base models
Datasets
Model card
From the Hugging Face model README
pi05_yubi_ee_pickplace_v2
pi05 on the cleaned (v2) pick-and-place subtask dataset — the recommended
pickplace checkpoint (supersedes pi05_yubi_ee_pickplace).
- Dataset:
OmakaseAI/yubi_ee_pickplace_v2(708 train / 82 holdout, 54,830 frames). Built via the omakase-data-infra segment pipeline with the 2026-07-02 forensics fixes: stray-day sessions excluded, evidence-based segment selection (grasp cycle), tail raise-to-click gesture trimmed (~10 frames/ep), QC gate (only 2 eps dropped). Right-hand-only collection (left arm dims idle — recorded in metadata). - Actions: ABSOLUTE (relative=true + all-20-dim exclude). 20-dim bimanual EE, 3 cams, 7500 steps, full-param (vision frozen), 8x H100.
- wandb: omakase-robotics/galaxea_pi05_ee/runs/jsisyoyk
Serve via galaxea_lerobot serve_pi05_yubi_ee_bimanual.sh (MODEL_ID/DATASET_ID = this pair); client pi05_ee_inference. Open-loop MSE is not closed-loop success; on-robot eval required.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jul 3, 2026
- Updated
- Jul 3, 2026