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pi05-so101-stacking-rings-isambard
pravsels/pi05-so101-stacking-rings-isambard
pi05-so101-stacking-rings-isambard is a robotics model from pravsels. 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.
Fine-tuned pi0.5 checkpoint for the SO101 stacking-rings task (6D joint-space, delta joints + absolute gripper). Trained on Isambard GH200 (4× GPU node); replication of the GCloud run.
Access
Public
Updated Jun 3, 2026
Repo size
24.9 GB
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Jun 3, 2026
- Updated
- Jun 3, 2026
- SHA
- f5a14298
Model card
From the Hugging Face model README
pi0.5 SO101 Stacking Rings (Isambard)
Fine-tuned pi0.5 checkpoint for the SO101 stacking-rings task (6D joint-space, delta joints + absolute gripper). Trained on Isambard GH200 (4× GPU node); replication of the GCloud run.
Experiment
- Objective: Replication — same
pi05_so101_stacking_ringsfine-tune on Isambard. - Weight init: pi0.5 base weights.
- Published step: 49,999 (50k training run).
- Loss at step ~49,900: ~0.0058
Config
- Config name:
pi05_so101_stacking_rings - Model: pi0.5 (
pi05=True,action_horizon=30) - Batch size: 32 · Steps: 50,000 · Save interval: 5,000
- LR: 2.5e-5 cosine (1k warmup) · EMA: 0.999
- Delta actions:
[T,T,T,T,T,F]· Default prompt:stack the rings
Dataset
- lorenzouttini/so101_stacking_rings — 101 episodes, ~34k frames
Checkpoint Hashes
cd checkpoints/49999/params && find . -type f | sort | xargs sha256sum | sha256sum
| Step | Loss (approx) | SHA-256 |
|---|---|---|
| 49,999 | 0.0058 | d2b3cc68c91e6801fc81730f53be87e209cfe1e7b5932ca6bbdf6dd74c788f5d |
W&B
Artifacts
Signed MODEL_PASSPORT.json + SIGNOFF.json at repo root (checkpoint-passport v0.2).
Usage
from openpi.training.config import get_config
from openpi.serving.policy_server import PolicyServer
config = get_config("pi05_so101_stacking_rings")
server = PolicyServer(config, checkpoint_path="checkpoints/49999/params")
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jun 3, 2026
- Updated
- Jun 3, 2026