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pi05_real_arr_blue_black_red
haohw/pi05_real_arr_blue_black_red
pi05_real_arr_blue_black_red is a robotics model from haohw. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as apache-2.0.
Fine-tuned pi0.5 VLA model for real robot manipulation.
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Public
Updated Apr 17, 2026
Repo size
24.9 GB
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At a glance
- Task
- Robotics
- License
- apache-2.0
- Access
- Public
- Created
- Apr 17, 2026
- Updated
- Apr 17, 2026
- SHA
- 2dd579a9
Model card
From the Hugging Face model README
pi05_real_arr_blue_black_red
Fine-tuned pi0.5 VLA model for real robot manipulation.
Task
- Task: Object Arrangement
- Training data: Blue-Black-Red order only
- Dataset:
real_arrangement_blue_black_red - Robot: Franka Panda (7-DOF)
- Cameras: Base RGB + Wrist RGB (256x256)
Training Configuration
| Parameter | Value |
|---|---|
| Base model | pi0.5 (PaliGemma 2B + Gemma 2B action expert) |
| Total parameters | ~3.35B |
| Action dimension | 32 |
| Action horizon | 10 |
| Batch size | 16 |
| Training steps | 5,000 |
| Learning rate | Cosine decay: warmup=500, peak=5e-5, end=5e-6 |
| Optimizer | AdamW (gradient clip norm=1.0) |
| GPUs | 8x NVIDIA A100 |
Checkpoints
- Step 4000 and Step 4999 included
Part of Mode Editing Research
This checkpoint is part of the "Don't Filter Your Data, Edit Your Policy" project (CoRL 2026).
- Task
- Robotics
- License
- apache-2.0
- Created
- Apr 17, 2026
- Updated
- Apr 17, 2026