tron2-garment-feeder-button-pi05

TRON2 Garment Feeder Button PI0.5

Fine-tuned PI0.5 policy for the instruction:

Pick up the garment, place it into the metal feeder, then press the green button

Model contract

• Robot state/action dimension: 16
• Action horizon: 50
• Cameras: cam_high, cam_left_wrist, cam_right_wrist
• Actions: absolute joint and gripper commands
• Training-time RTC simulated delay: 10
• Training data: 506 LeRobot v2.1 episodes (137,763 frames)
• Training exposure: 20,000 steps at global batch size 32
• Training hardware: 4 NVIDIA H200 GPUs
• Source Slurm job: 19733648
• Final checkpoint step: 19,999

The normalization statistics in assets/tron2_garment_feeder_button_506/norm_stats.json are part of the model contract and must be used for inference.

For deployment with the current TRON2 OpenPI code, use the compatible pi05_tron2_pick_place_200 model config and override repo_id, prompt, action horizon, and state dimension according to deployment_metadata.json.

Safety

Validate image ordering, state ordering, action ordering, output shape, finite values, and joint limits in shadow mode before sending actions to a robot.