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pi05-real-single-task-lora-ckpts
Wr3ck1Am/pi05-real-single-task-lora-ckpts
pi05-real-single-task-lora-ckpts is a machine learning model from Wr3ck1Am. Use it for the machine learning task on the model card, and read the license before you ship it in a product.
Per-task LoRA fine-tunes of the pi0.5 (PaliGemma + action expert) policy on real-robot data from harrywang01/realworldtask.
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Public
Updated May 27, 2026
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1.9 GB
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.ckpt2.4 GB · 100%
At a glance
- Access
- Public
- Created
- May 27, 2026
- Updated
- May 27, 2026
- SHA
- f6ecbb83
Model card
From the Hugging Face model README
Pi05 Single-Task LoRA — Real-World Tasks
Per-task LoRA fine-tunes of the pi0.5 (PaliGemma + action expert) policy on
real-robot data from harrywang01/real_world_task.
Tasks
| Task | Instruction |
|---|---|
wipe_new | "Brush the two plates with the brushes, and each brush can only be used once." |
can | "Swap the positions of the pink and white soda cans by using another empty location as a buffer." |
peg_new | "Pick up the peg from its starting position and insert it into the hole below that has exactly the same length. Each hole can only be attempted once." |
uncover_new | "Lift the cups to find the small cube hidden underneath, and each cup may only be lifted once." |
pushT_new | "Push the T-shaped block to its target pose marked on the table." |
Recipe
- Action dim 8 (7-D Δpose + binarized gripper appended via converter
scripts/convert_realworld_hf_to_robomimic.py --gripper_in_action). - LoRA r=32 (vision/expert) + r=24 (PaliGemma language); see
config.yaml. - Single-GPU H100,
bs=32 × grad_accum=2(effective 64),lr=1.5e-4,num_epochs=20,checkpoint_every=1. - DataLoader:
num_workers=4, persistent_workers=True. train_pi05_image_workspace.pyfromKuanchengWang/diffusion_policy@jinglin.
Layout
<task>/
checkpoints/
epoch=XXXX-val=Y.YYYY.ckpt # top-k by val_loss
milestone_epochXXXX.ckpt # every 2 epochs
latest.ckpt # last-completed epoch
config.yaml # hydra config for this run
Loading
import torch
ckpt = torch.load("can/checkpoints/epoch=0019-val=0.0296.ckpt",
map_location="cpu", weights_only=False)
# ckpt = {"cfg": OmegaConf, "state_dicts": {"model": ..., "ema_model": ...},
# "pickles": {"global_step": ..., "epoch": ...}}
Each .ckpt contains the LoRA-only state dict (~29 MB). The base PaliGemma
weights stay loaded from HuggingFace at eval time.
- Created
- May 27, 2026
- Updated
- May 27, 2026