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pi05_droyd_umi
rayhanfahmed/pi05_droyd_umi
pi05_droyd_umi is a robotics model from rayhanfahmed. 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 on bimanual manipulation demonstrations collected via UMI (Universal Manipulation Interface) gloves.
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4.1B
9.4 GB on disk
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Model card
From the Hugging Face model README
PI0.5 Fine-tuned on Droyd UMI Data
Fine-tuned PI0.5 on bimanual manipulation demonstrations collected via UMI (Universal Manipulation Interface) gloves.
Training Details
| Parameter | Value |
|---|---|
| Base model | lerobot/pi05_base (4.1B params) |
| Dataset | 110 approved episodes, 11,765 frames @ 50fps |
| Session | 158cc246-6594-410a-8d5a-db58a4101276 |
| Steps | 5,000 |
| Batch size | 32 effective (4 per GPU × 8 GPUs) |
| Hardware | 8× NVIDIA H200 (Vast.ai) |
| Training time | ~62 minutes |
| Final loss | ~0.002 |
| Optimizer | AdamW (lr=2.5e-5, weight_decay=0.01) |
| LR schedule | Cosine decay with 166-step warmup |
| Normalization | Quantile (state & action) |
| Action space | 7D absolute joint positions (6 joints + gripper) |
| Cameras | ego (overhead) + wrist |
| Review clips | Enabled (user-trimmed episode boundaries) |
Input Features
| Feature | Shape | Type |
|---|---|---|
observation.images.cam_high → base_0_rgb | (3, 224, 224) | VISUAL |
observation.images.cam_wrist → left_wrist_0_rgb | (3, 224, 224) | VISUAL |
observation.state | (32,) | STATE (quantile normalized) |
Output Features
| Feature | Shape | Type |
|---|---|---|
action | (7,) | ACTION (quantile normalized) |
W&B Run
Usage
from lerobot.common.policies.pi05.modeling_pi05 import PI05Policy
policy = PI05Policy.from_pretrained("rayhanfahmed/pi05_droyd_umi")
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Mar 20, 2026
- Updated
- Mar 21, 2026