lerobot / pi05_libero_finetuned_quantiles

Model Card for pi05

π₀.₅ (Pi05) Policy Finetuned with Quantile normalization

This model which come from the Pytorch conversion script of openpi and their pi05_libero model, has been finetuned for 6k steps on 8x H100 GPU's.

π₀.₅ is a Vision-Language-Action model with open-world generalization, from Physical Intelligence. The LeRobot implementation is adapted from their open source OpenPI repository.

Model Overview

π₀.₅ represents a significant evolution from π₀, developed by Physical Intelligence to address a big challenge in robotics: open-world generalization. While robots can perform impressive tasks in controlled environments, π₀.₅ is designed to generalize to entirely new environments and situations that were never seen during training.

For more details, see the Physical Intelligence π₀.₅ blog post .

This policy has been trained and pushed to the Hub using LeRobot . See the full documentation at LeRobot Docs .

How to Get Started with the Model

For a complete walkthrough, see the training guide . Below is the short version on how to train and run inference/eval:

Train from scratch

python src/lerobot/scripts/train.py \
    --dataset.repo_id=your_dataset \
    --policy.type=pi05 \
    --output_dir=./outputs/pi05_training \
    --job_name=pi05_training \
    --policy.repo_id=your_repo_id \
    --policy.pretrained_path=lerobot/pi05_libero_finetuned_quantiles \
    --policy.compile_model=true \
    --policy.gradient_checkpointing=true \
    --wandb.enable=true \
    --policy.dtype=bfloat16 \
    --steps=3000 \
    --policy.scheduler_decay_steps=3000 \
    --policy.device=cuda \
    --batch_size=32

Model Details

• License: apache-2.0