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simtos_3031_40k_notorso_
rainbowrobotics/simtos_3031_40k_notorso_
simtos_3031_40k_notorso_ is a robotics model from rainbowrobotics. 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.
Pi0.5 model fine-tuned from lerobot/pi05base on rainbowrobotics/simtossort3031mergednotorsoqfixed.
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Model card
From the Hugging Face model README
simtos_3031_40k_notorso_
Pi0.5 model fine-tuned from lerobot/pi05_base on rainbowrobotics/simtos_sort_30_31_merged_notorso_qfixed.
Model Details
- Base model: lerobot/pi05_base (PaliGemma 2B + Gemma 300M action expert)
- Robot: RBY1 (dual arm)
- Task: Recyclable sorting (cans, PET bottles, paper)
- Training steps: 40,000
- Batch size: 20
- dtype: bfloat16
Input / Output
| Feature | Shape | Type |
|---|---|---|
observation.state | (16,) | right_arm (7) + left_arm (7) + grippers (2) |
observation.images.front | (480, 640, 3) | Front camera |
observation.images.right | (640, 480, 3) | Right camera |
observation.images.left | (640, 480, 3) | Left camera |
action | (16,) | right_arm (7) + left_arm (7) + grippers (2) |
Training Config
- Learning rate: 2.5e-5 (cosine decay to 2.5e-6)
- Warmup steps: 1,000
- Optimizer: AdamW (weight_decay=0.01)
- Normalization: QUANTILES (state & action)
- freeze_vision_encoder: false
- train_expert_only: false
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Apr 1, 2026
- Updated
- Apr 2, 2026