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pi0-fast-libero-lora
doremifasolatido/pi0-fast-libero-lora
pi0-fast-libero-lora is a robotics model from doremifasolatido. 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 openpi. The card lists the license as apache-2.0.
LoRA fine-tune of pi0fastbase on the physical-intelligence/libero dataset, produced with openpi.
Access
Public
Updated Apr 27, 2026
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8.6 GB
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At a glance
- Task
- Robotics
- Library
- openpi
- License
- apache-2.0
- Access
- Public
- Created
- Apr 27, 2026
- Updated
- Apr 27, 2026
- SHA
- 7c3d1730
Base models
Datasets
Model card
From the Hugging Face model README
pi0-FAST LIBERO (LoRA fine-tune)
LoRA fine-tune of pi0_fast_base on the physical-intelligence/libero dataset, produced with openpi.
Training
| Config (openpi) | pi0_fast_libero_low_mem_finetune |
| Variant | LoRA on PaliGemma (paligemma_variant="gemma_2b_lora"), EMA off |
| Base weights | gs://openpi-assets/checkpoints/pi0_fast_base |
| Dataset | physical-intelligence/libero |
| Steps | 30,000 (save-interval=1000, max_to_keep=1 on disk) |
| Batch size | 32 |
| Hardware | single H200, ~13.5 h wall-clock |
| Final loss (step 29900) | loss=0.7988, grad_norm=6.59, param_norm=1667.07 |
Loss trajectory: 1.69 → 1.20 (10k) → 0.93 (20k) → 0.80 (30k).
Contents
This is the full orbax checkpoint dir at step 29999, including optimizer state — usable for both inference and resumed training.
params/ # model parameters (~5.5 GB read on restore)
train_state/ # optimizer + scheduler state (drop for inference-only)
assets/ # baked norm stats for physical-intelligence/libero
_CHECKPOINT_METADATA
Usage (openpi)
# Inside an openpi checkout:
hf download doremifasolatido/pi0-fast-libero-lora --local-dir ./pi0_fast_libero_lora_29999
XLA_PYTHON_CLIENT_MEM_FRACTION=0.4 uv run --no-sync scripts/serve_policy.py \
--env LIBERO --port 8000 \
policy:checkpoint \
--policy.config=pi0_fast_libero_low_mem_finetune \
--policy.dir=./pi0_fast_libero_lora_29999
Then drive it with examples/libero/main.py (or use this repo's scripts/run_libero_eval.py for an end-to-end harness).
Eval
LIBERO suite success rates: pending (eval running at upload time).
- Task
- Robotics
- Library
- openpi
- License
- apache-2.0
- Created
- Apr 27, 2026
- Updated
- Apr 27, 2026