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pi0-record-testv2
abcmaster123/pi0-record-testv2
pi0-record-testv2 is a robotics model from abcmaster123. 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.
LeRobot の π0 (pi0) を Ratstar216/record-testv2 で fine-tune したポリシーです（lerobot/pi0base からの微調整）。
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From the Hugging Face model README
pi0 — record-testv2 (SO-101)
LeRobot の π0 (pi0) を
Ratstar216/record-testv2
で fine-tune したポリシーです（lerobot/pi0_base からの微調整）。
Training
| Base model | lerobot/pi0_base |
| Dataset | Ratstar216/record-testv2（43 episodes / 22,878 frames, LeRobot v3.0, SO-101 / so_follower） |
| Cameras | observation.images.front, observation.images.upper, observation.images.depth（各 480×640） |
| State / Action | 6-dim（shoulder_pan/lift, elbow_flex, wrist_flex/roll, gripper） |
| Steps | 6000（batch size 4, ≈1.05 epoch） |
| Precision | bfloat16, gradient checkpointing, train_expert_only=true |
| Optimizer | AdamW, lr 2.5e-5, cosine decay + warmup(1000) |
| Hardware | NVIDIA GH200 (Miyabi-G) |
このリポジトリは step 6000 のチェックポイントです。
Usage
from lerobot.policies.pi0.modeling_pi0 import PI0Policy
policy = PI0Policy.from_pretrained("abcmaster123/pi0-record-testv2")
注: LeRobot の π0 実装で読み込んでください（
lerobotは π0 対応版が必要）。
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jun 21, 2026
- Updated
- Jul 4, 2026