AndreGaio
/

pi0_packing

+---
+base_model: lerobot/pi0_base
+datasets: AndreGaio/test-packing_20260816_160939
+library_name: lerobot
+license: apache-2.0
+model_name: pi0
+pipeline_tag: robotics
+tags:
+- lerobot
+- robotics
+- pi0
+---
+# Model Card for pi0
+<!-- Provide a quick summary of what the model is/does. -->
+[π₀ (Pi0)](https://www.physicalintelligence.company/blog/pi0) is a general-purpose robot foundation model from Physical Intelligence: a generalist Vision-Language-Action policy that understands visual inputs, interprets natural language instructions, and controls a variety of different robots across diverse tasks. The LeRobot implementation is adapted from their open-source OpenPI repository.
+<p align="center">
+  <img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-pi0%20(1).png" alt="pi0 architecture" width="85%"/>
+</p>
+<!-- A short demo is worth more than any description! Record a GIF/video of the policy
+running on your robot, upload it to this repo, and embed it here:
+<p align="center">
+  <img src="https://huggingface.co/<hf_user>/<policy_repo_id>/resolve/main/demo.gif" width="60%"/>
+</p>
+-->
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+Learn how to train and run it in the [LeRobot pi0 guide](https://huggingface.co/docs/lerobot/main/en/pi0), or browse the [full documentation](https://huggingface.co/docs/lerobot/index).
+---
+## Model Details
+- **License:** apache-2.0
+- **Fine-tuned from:** [lerobot/pi0_base](https://huggingface.co/lerobot/pi0_base)
+- **Robot type:** `so_follower`
+- **Cameras:** `front`, `top`
+## Inputs & Outputs
+The policy consumes these observation features and produces these action features.
+**Inputs**
+| Feature | Type | Shape |
+| --- | --- | --- |
+| `observation.state` | STATE | `(6,)` |
+| `observation.images.front` | VISUAL | `(3, 640, 480)` |
+| `observation.images.top` | VISUAL | `(3, 640, 480)` |
+**Outputs**
+| Feature | Type | Shape |
+| --- | --- | --- |
+| `action` | ACTION | `(6,)` |
+## Training Dataset
+- **Repository:** [AndreGaio/test-packing_20260816_160939](https://huggingface.co/datasets/AndreGaio/test-packing_20260816_160939)
+- **Episodes:** 5
+- **Frames:** 14234
+- **Frame rate:** 30 FPS
+- **Task(s):** "Load erasers into container"
+<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=AndreGaio/test-packing_20260816_160939">
+<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
+<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
+</a>
+## Training Configuration
+| Setting | Value |
+| --- | --- |
+| Training steps | 5000 |
+| Batch size | 1 |
+| Optimizer | adamw |
+| Learning rate | 2.5e-05 |
+| Seed | 1000 |
+| LeRobot version | 0.6.2 |
+---
+## How to Get Started with the Model
+New to LeRobot? These guides cover the full workflow:
+- **[Install LeRobot](https://huggingface.co/docs/lerobot/main/en/installation)** — set up the `lerobot` package.
+- **[Hardware setup](https://huggingface.co/docs/lerobot/main/en/hardware_guide)** — assemble, wire, and calibrate your robot and cameras.
+- **[Record data & train a policy](https://huggingface.co/docs/lerobot/en/il_robots)** — the end-to-end imitation-learning walkthrough.
+- **[CLI cheat-sheet](https://huggingface.co/docs/lerobot/main/en/cheat-sheet)** — quick reference for the `lerobot-*` commands.
+The short version to run and train this policy:
+### Run the policy on your robot
+```bash
+lerobot-rollout \
+  --strategy.type=base \
+  --robot.type=so_follower \
+  --robot.port=<your_robot_port> \
+  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
+  --policy.path=AndreGaio/pi0_packing \
+  --task="Load erasers into container" \
+  --duration=60
+```
+Replace the remaining `<...>` placeholders with your own values: `--robot.port` and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.
+When `--strategy.type=base` is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at [rollout documentation](https://huggingface.co/docs/lerobot/main/en/inference).
+### Train your own policy
+This policy type is usually fine-tuned from the pretrained base model [lerobot/pi0_base](https://huggingface.co/lerobot/pi0_base):
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.path=lerobot/pi0_base \
+  --output_dir=outputs/train/<policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<policy_repo_id> \
+  --wandb.enable=true
+```
+_Writes checkpoints to `outputs/train/<policy_repo_id>/checkpoints/`._
+---
+## Evaluation
+<!-- Report real-robot results here: run the policy several times per task and count the
+successes. Delete the "No evaluation results" line and fill in this table instead:
+| Task | Trials | Successes | Success rate |
+| ---- | ------ | --------- | ------------ |
+| pick the lego brick | 10 | 8 | 80% |
+Also worth noting: anything that affects difficulty (new object positions, lighting,
+distractors, a different robot of the same type, ...).
+-->
+_No evaluation results have been provided for this policy yet._
+---
+## Citation
+If you use this policy, please cite the method linked in the description above, along with LeRobot:
+```bibtex
+@misc{cadene2024lerobot,
+    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
+    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
+    howpublished = "\url{https://github.com/huggingface/lerobot}",
+    year = {2024}
+}
+```

train_config.json ADDED Viewed

	@@ -0,0 +1,303 @@

+{
+    "dataset": {
+        "repo_id": "AndreGaio/test-packing_20260816_160939",
+        "repo_type": "dataset",
+        "root": null,
+        "episodes": null,
+        "exclude_episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "pi0",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    640,
+                    480
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    640,
+                    480
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": "AndreGaio/pi0_packing",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "paligemma_variant": "gemma_2b",
+        "action_expert_variant": "gemma_300m",
+        "dtype": "bfloat16",
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "num_inference_steps": 10,
+        "time_sampling_beta_alpha": 1.5,
+        "time_sampling_beta_beta": 1.0,
+        "time_sampling_scale": 0.999,
+        "time_sampling_offset": 0.001,
+        "min_period": 0.004,
+        "max_period": 4.0,
+        "use_relative_actions": false,
+        "relative_exclude_joints": [
+            "gripper"
+        ],
+        "action_feature_names": [
+            "shoulder_pan.pos",
+            "shoulder_lift.pos",
+            "elbow_flex.pos",
+            "wrist_flex.pos",
+            "wrist_roll.pos",
+            "gripper.pos"
+        ],
+        "rtc_config": null,
+        "image_resolution": [
+            224,
+            224
+        ],
+        "empty_cameras": 0,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "gradient_checkpointing": true,
+        "compile_model": false,
+        "compile_mode": "max-autotune",
+        "freeze_vision_encoder": false,
+        "train_expert_only": true,
+        "optimizer_lr": 2.5e-05,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 0.01,
+        "optimizer_grad_clip_norm": 1.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06,
+        "tokenizer_max_length": 48
+    },
+    "reward_model": null,
+    "output_dir": "outputs/train/pi0_packing",
+    "job_name": "pi0_packing",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 1,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "dataloader_multiprocessing_context": "spawn",
+    "steps": 5000,
+    "env_eval_freq": 20000,
+    "log_freq": 200,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 1000,
+    "checkpoint_format": "safetensors",
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 2.5e-05,
+        "weight_decay": 0.01,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 2.5e-05,
+        "decay_lr": 2.5e-06
+    },
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "context_parallel": {
+            "ring_degree": 1,
+            "ulysses_degree": 1
+        },
+        "cfg_parallel": 1
+    },
+    "accelerator": {
+        "mixed_precision": "no",
+        "gradient_accumulation": {
+            "steps": 1
+        },
+        "fsdp": {
+            "reshard_after_forward": true,
+            "wrap_modules": null,
+            "min_num_params": null,
+            "cpu_offload": false,
+            "ignored_modules": null
+        },
+        "ddp": {
+            "find_unused_parameters": true,
+            "gradient_as_bucket_view": false,
+            "static_graph": false
+        },
+        "compile": {
+            "enabled": false,
+            "backend": "inductor",
+            "mode": null,
+            "regional": true
+        },
+        "activation_checkpointing": {
+            "mode": "none"
+        }
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 14,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "ema": {
+        "enable": false,
+        "decay": null,
+        "update_after_step": 0,
+        "inv_gamma": 1.0,
+        "power": 0.75,
+        "min_decay": 0.0,
+        "max_decay": 0.9999,
+        "use_for_eval": true
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "jeggxlsa",
+        "mode": null,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}