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pi0_button_press
yixiaosz/pi0_button_press
pi0_button_press is a machine learning model from yixiaosz. Use it for the machine learning task on the model card, and read the license before you ship it in a product. The card lists the license as apache-2.0.
Fine-tuned from lerobot/pi0base with trainexpertonly=true on the local/buttonpress0901 dataset (61 episodes, 30981 frames, 2 cameras sideview/wristego, 6-dim state/action).
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From the Hugging Face model README
pi0 fine-tuned for button-press (RM65-6F sim) — step 150000
Fine-tuned from lerobot/pi0_base with train_expert_only=true on the
local/button_press_0901 dataset (61 episodes, 30981 frames, 2 cameras
side_view/wrist_ego, 6-dim state/action).
This is the final fine-tune: continued from the earlier checkpoints to
step 150000 (~19.4 epochs, batch_size=4, bf16), with a cosine LR schedule
decaying 2.5e-5 -> 2.5e-6 across the full run. Loss converged to a plateau
(~0.03-0.04) by the end. It supersedes the previously uploaded step-15000
policy.
Controls the RM65-6F + DexHand-021 sim to press the red button. Task: "press the red button on the box".
- License
- apache-2.0
- Created
- Sep 2, 2026
- Updated
- Sep 3, 2026