Downloads · 30 days
9
23% of all-time downloads
pi0_lehome_four_types
collected-ai/pi0_lehome_four_types
pi0_lehome_four_types is a robotics model from collected-ai. 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.
Finetuned from lerobot/pi0base on collected-ai/lehome-four-types-merged (dual-arm SO101 garment folding; 3 RGB cameras 480x640 + 12-dim joint state; task "fold the garment on the table").
All-time downloads
40
Public
Parameters
4B
96.7 GB on disk
Likes
0
Public
Repo makeup
Click a slice to open those files.
.safetensors16.1 GB · 100%
At a glance
- Task
- Robotics
- Library
- lerobot
- Access
- Public
- Created
- Jun 9, 2026
- Updated
- Jun 9, 2026
- SHA
- c779cf99
Model card
From the Hugging Face model README
pi0 — LeHome four-types garment-fold finetune
Finetuned from lerobot/pi0_base on
collected-ai/lehome-four-types-merged (dual-arm SO101 garment folding; 3 RGB cameras 480x640 +
12-dim joint state; task "fold the garment on the table").
Training: 30k steps, effective batch 64 (bs 32 x 2 GPU DDP), bf16 + gradient checkpointing, pi0 training preset (AdamW lr 2.5e-5, cosine w/ 1k warmup). ~7.2 epochs; final flow-matching loss ~0.013.
Checkpoints (every 5k steps): main is the final step-30000 model; intermediates are branches:
step-5000, step-10000, step-15000, step-20000, step-25000.
from lerobot.policies.pi0.modeling_pi0 import PI0Policy
policy = PI0Policy.from_pretrained("collected-ai/pi0_lehome_four_types") # step 30000
policy = PI0Policy.from_pretrained("collected-ai/pi0_lehome_four_types", revision="step-15000")
- Task
- Robotics
- Library
- lerobot
- Created
- Jun 9, 2026
- Updated
- Jun 9, 2026