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pi05_stage1_24000
siruku6/pi05_stage1_24000
pi05_stage1_24000 is a robotics model from siruku6. 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 gemma.
A pi0.5 checkpoint fine-tuned from lerobot/pi05liberobase (revision a217bfd3b14673cf2ce597e69997ab21866438dd) on the lerobot/liberoplus dataset.
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.safetensors9.4 GB · 100%
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BF163.6B · 87%
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Model card
From the Hugging Face model README
pi05_stage1_24000
A pi0.5 checkpoint fine-tuned from
lerobot/pi05_libero_base
(revision a217bfd3b14673cf2ce597e69997ab21866438dd) on the
lerobot/libero_plus dataset.
This is the first stage of a two-stage run: only the action expert was updated
(~693M of 4.14B parameters). The vision encoder and the VLM were frozen. The second
stage, which unfreezes everything, is
siruku6/pi05_full_runpod.
Training
| Steps | 24,000 |
| Batch size | 16 |
| Seed | 42 |
| Trainable parameters | action expert only (train_expert_only=true, freeze_vision_encoder=true) |
| Optimizer | AdamW, weight decay 0.01, betas (0.9, 0.95), grad clip norm 1.0 |
| LR schedule | cosine decay with warmup — 1,000 warmup steps, peak 2.5e-5, decay to 2.5e-6 over 30,000 |
| Gradient checkpointing | enabled |
| Action chunk | chunk_size=50, n_action_steps=10 |
| Dataset | lerobot/libero_plus |
The full configuration as actually used is in train_config.json in this repository.
Modifications to the base model
model.safetensors is modified relative to the base checkpoint: it is the result of
gradient updates performed by the author on the LIBERO-plus dataset. No other file
carried over from the base model is modified.
License and redistribution
This is a Model Derivative of Gemma (via PaliGemma inside pi0.5) and is therefore distributed under, and subject to, the Gemma Terms of Use.
Gemma is provided under and subject to the Gemma Terms of Use found at ai.google.dev/gemma/terms
By using or further distributing these weights (or any derivative of them) you agree to:
- the Gemma Terms of Use, a copy of which governs this repository and must be passed on to any recipient you redistribute to; and
- the Gemma Prohibited Use Policy, whose use restrictions apply to this derivative and to every derivative made from it.
Reference implementation of pi0.5: openpi (Apache License 2.0). Training data: LIBERO (Lifelong-Robot-Learning/LIBERO) — code MIT, datasets CC BY 4.0.
Provided as-is, without warranty of any kind.
- Task
- Robotics
- Library
- lerobot
- License
- gemma
- Created
- Aug 14, 2026
- Updated
- Aug 31, 2026