Hugging Face's logo

CoRL2026-CSI
/
Pi0.5-IsaacLab-Multi-Task-1epochs

Robotics
LeRobot
Safetensors
English
vision-language-action
imitation-learning
behavior-cloning
pi05
pi0.5
openpi
isaaclab
so101
multi-task
corl2026
bfloat16
full-finetune
Model card Files
xet
 Community
Pi0.5-IsaacLab-Multi-Task-1epochs
File size: 2,766 Bytes
f5df5bb
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
{
    "type": "pi05",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.base_0_rgb": {
            "type": "STATE",
            "shape": [
                1
            ]
        },
        "observation.images.left_wrist_0_rgb": {
            "type": "STATE",
            "shape": [
                1
            ]
        },
        "observation.images.right_wrist_0_rgb": {
            "type": "STATE",
            "shape": [
                1
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                32
            ]
        },
        "observation.images.top": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        },
        "observation.images.left_wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        },
        "action.radian_urdf0": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": false,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "lerobot/pi05_base",
    "paligemma_variant": "gemma_2b",
    "action_expert_variant": "gemma_300m",
    "dtype": "bfloat16",
    "chunk_size": 16,
    "n_action_steps": 16,
    "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,
    "rtc_config": null,
    "use_relative_actions": false,
    "relative_exclude_joints": [],
    "action_feature_names": [],
    "image_resolution": [
        224,
        224
    ],
    "empty_cameras": 0,
    "tokenizer_max_length": 200,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "QUANTILES",
        "ACTION": "QUANTILES"
    },
    "gradient_checkpointing": true,
    "compile_model": false,
    "compile_mode": "default",
    "profile_forward_timing": false,
    "freeze_vision_encoder": false,
    "train_expert_only": false,
    "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
}