Downloads · 30 days
13
11% of all-time downloads
Pi05-SO101-30
coltonhabr/Pi05-SO101-30
Pi05-SO101-30 is a robotics model from coltonhabr. 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.
PI0.5 fine-tuned on the SO-101 black-cube-to-green-square dataset.
All-time downloads
120
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
Model card
From the Hugging Face model README
Pi05-SO101-30
PI0.5 fine-tuned on the SO-101 black-cube-to-green-square dataset.
Training
- Base model:
lerobot/pi05_base - Dataset:
so101_black_cube_green_square_30 - Local dataset root used for training:
datasets/so101_black_cube_green_square_30 - Objective: pick up the black cube and place it in the green outlined square.
- Steps: 20,000
- Batch size: 1
- Precision: bfloat16
- Runtime: 12,368 seconds, about 3h 26m 08s
- GPU: NVIDIA A10G
- Git commit:
3bd9fb9d9114f49b6d173297d6ccbe95dba84c9e
Training used train_expert_only=true, freeze_vision_encoder=true, and gradient_checkpointing=true.
The SO-101 dataset camera keys were mapped for PI0.5 as:
observation.images.top->observation.images.base_0_rgbobservation.images.wrist->observation.images.left_wrist_0_rgb
Loading
In a compatible checkout of this repo:
uv run lerobot-eval --policy.path=coltonhabr/Pi05-SO101-30
The exported policy config points back to lerobot/pi05_base as its base model and includes the trained checkpoint weights and processor files.
- Task
- Robotics
- Library
- lerobot
- Created
- Jun 11, 2026
- Updated
- Jun 11, 2026