Downloads · 30 days
13
13% of all-time downloads
pi05_pick_block_red_yam
YzyLmc/pi05_pick_block_red_yam
pi05_pick_block_red_yam is a robotics model from YzyLmc. 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.
Full-parameter fine-tune of π0.5 on YzyLmc/pickblockred, a single-task YAM-arm dataset for the instruction "Pick up the red block".
All-time downloads
99
Public
Parameters
3.6B
29.9 GB on disk
Likes
0
Public
Repo makeup
Click a slice to open those files.
.safetensors7.5 GB · 100%
Parameter types
How the weights are stored.
BF163.5B · 97%
Base models
Datasets
Model card
From the Hugging Face model README
pi05_pick_block_red_yam
Full-parameter fine-tune of π0.5 on YzyLmc/pick_block_red,
a single-task YAM-arm dataset for the instruction "Pick up the red block".
Intermediate checkpoint — step 18,000 of a 20,000-step run. Task success has not been evaluated on a robot or in simulation. Loss curves and held-out scoring are not yet available. Treat this as a work-in-progress artifact, not a validated policy.
Model details
| Base checkpoint | lerobot/pi05_base @ a538eb273274eb30f126a118f39dbc0ee212c883 |
| Architecture | PaliGemma gemma_2b backbone + gemma_300m action expert |
| Trained parameters | All (no LoRA, no frozen backbone, no expert-only training) |
| Action space | 7-D joint control, chunk size 50 @ 30 fps (~1.67 s horizon) |
| State | 7-D joint position |
| Weights | bfloat16, 812 tensors |
model.safetensors SHA-256 | bdeb1c2177c908061f1b376a9cd945c031dac9ba63b68d346b3fb4936554072f |
Data
30 episodes / 12,833 frames @ 30 fps, robot_type: yam, LeRobot dataset format v3.0.
- Train: episodes 0–26 (27 episodes)
- Held out: episodes 27, 28, 29 — not seen during training
- Cameras used:
scene_camera,left_wrist_camera(RGB 480×640, AV1) - Excluded:
depth_scene_camera— π0.5's SigLIP tower is 3-channel and cannot consume the 1-channel depth track
Camera keys are remapped to the OpenPI canonical names the base checkpoint expects:
observation.images.scene_camera -> observation.images.base_0_rgb
observation.images.left_wrist_camera -> observation.images.left_wrist_0_rgb
right_wrist_0_rgb is absent from this dataset and is handled as a masked placeholder.
Training configuration
| Batch size | 32 |
| Optimizer | AdamW, lr 2.5e-5, betas (0.9, 0.95), weight decay 0.01, grad clip 1.0 |
| Schedule | cosine, 1,000 warmup steps, 20,000 decay steps, min lr 2.5e-6 |
| Precision | bfloat16 |
| Gradient checkpointing | enabled (memory only — mathematically exact, no effect on results) |
| Seed | 1000 |
Environment
Reproduced with LeRobot v0.4.1, which pins the dataset format (CODEBASE_VERSION = "v3.0")
matching this dataset.
lerobot==0.4.1, Python 3.11torch==2.7.1+cu128,torchvision==0.22.1(CUDA 12.8 for Blackwellsm_120)transformers==4.53.3from LeRobot's patched branchgit+https://github.com/huggingface/transformers.git@fix/lerobot_openpi— required; stock PyPI transformers fails π0.5'stransformers.models.siglip.checkguard- Video decoding via PyAV (
--dataset.video_backend=pyav) - Hardware: 1× NVIDIA RTX PRO 6000 Blackwell (96 GB), ~3.47 s/step
The base checkpoint is pinned to revision a538eb27 deliberately: later revisions add a
relative_actions_processor preprocessing step that LeRobot 0.4.1 cannot resolve.
Usage
from lerobot.policies.pi05.modeling_pi05 import PI05Policy
policy = PI05Policy.from_pretrained("YzyLmc/pi05_pick_block_red_yam")
Supply observations under the OpenPI camera keys above, a 7-D observation.state,
and the task string "Pick up the red block".
Limitations
- Single task, single scene, 30 demonstrations — no generalization claims.
- Intermediate checkpoint; the final step-20,000 weights may differ substantially.
- No task-success evaluation has been performed.
License
Apache-2.0, inherited from lerobot/pi05_base and LeRobot.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Aug 28, 2026
- Updated
- Aug 28, 2026