diff --git a/004000/pretrained_model/README.md b/004000/pretrained_model/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6565338d7b6577ddbee192786d397d22079b8338
--- /dev/null
+++ b/004000/pretrained_model/README.md
@@ -0,0 +1,204 @@
+---
+library_name: peft
+tags:
+- base_model:adapter:lerobot/pi0_base
+- lora
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.18.1
\ No newline at end of file
diff --git a/004000/pretrained_model/adapter_config.json b/004000/pretrained_model/adapter_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c00acefa2527617e9a485e421d89b9166fed77b
--- /dev/null
+++ b/004000/pretrained_model/adapter_config.json
@@ -0,0 +1,41 @@
+{
+  "alora_invocation_tokens": null,
+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "PI0Policy",
+    "parent_library": "lerobot.policies.pi0.modeling_pi0"
+  },
+  "base_model_name_or_path": "lerobot/pi0_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 8,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "peft_version": "0.18.1",
+  "qalora_group_size": 16,
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": "(.*\\.gemma_expert\\..*\\.self_attn\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out))",
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}
\ No newline at end of file
diff --git a/004000/pretrained_model/adapter_model.safetensors b/004000/pretrained_model/adapter_model.safetensors
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b10f26df22c335e6b20da23524f5fcb6fbda167ad095b59ebdc474e8dfb487
+size 11101592
diff --git a/004000/pretrained_model/config.json b/004000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bded5dca90b3c498f402c92f09b4af980008111
--- /dev/null
+++ b/004000/pretrained_model/config.json
@@ -0,0 +1,113 @@
+{
+    "type": "pi0",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.base_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.left_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                32
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                12
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": true,
+    "push_to_hub": true,
+    "repo_id": "F-Fer/pi0-xlerobot-0",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi0_base",
+    "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": [
+        "left_shoulder_pan.pos",
+        "left_shoulder_lift.pos",
+        "left_elbow_flex.pos",
+        "left_wrist_flex.pos",
+        "left_wrist_roll.pos",
+        "left_gripper.pos",
+        "right_shoulder_pan.pos",
+        "right_shoulder_lift.pos",
+        "right_elbow_flex.pos",
+        "right_wrist_flex.pos",
+        "right_wrist_roll.pos",
+        "right_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": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 0.001,
+    "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": 0.0001,
+    "tokenizer_max_length": 48
+}
\ No newline at end of file
diff --git a/004000/pretrained_model/policy_postprocessor.json b/004000/pretrained_model/policy_postprocessor.json
new file mode 100644
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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              12
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {
+          "observation.images.left_front": "observation.images.base_0_rgb",
+          "observation.images.left_left": "observation.images.left_wrist_0_rgb",
+          "observation.images.left_right": "observation.images.right_wrist_0_rgb"
+        }
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "pi0_new_line_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 48,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "google/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.base_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "observation.images.left_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "observation.images.right_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
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+              32
+            ]
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+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
+    }
+  ]
+}
\ No newline at end of file
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diff --git a/004000/pretrained_model/train_config.json b/004000/pretrained_model/train_config.json
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+{
+    "dataset": {
+        "repo_id": "F-Fer/xlerobot-0",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
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+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
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+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
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+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
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+                "hue": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
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+                "sharpness": {
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+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
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+                "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",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "pi0",
+        "n_obs_steps": 1,
+        "input_features": {
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+                "shape": [
+                    12
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": true,
+        "push_to_hub": true,
+        "repo_id": "F-Fer/pi0-xlerobot-0",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "lerobot/pi0_base",
+        "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,
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+        "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": [
+            "left_shoulder_pan.pos",
+            "left_shoulder_lift.pos",
+            "left_elbow_flex.pos",
+            "left_wrist_flex.pos",
+            "left_wrist_roll.pos",
+            "left_gripper.pos",
+            "right_shoulder_pan.pos",
+            "right_shoulder_lift.pos",
+            "right_elbow_flex.pos",
+            "right_wrist_flex.pos",
+            "right_wrist_roll.pos",
+            "right_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": true,
+        "compile_mode": "max-autotune",
+        "freeze_vision_encoder": false,
+        "train_expert_only": false,
+        "optimizer_lr": 0.001,
+        "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": 0.0001,
+        "tokenizer_max_length": 48
+    },
+    "output_dir": "outputs/train/2026-04-10/14-19-24_pi0",
+    "job_name": "pi0",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 4,
+    "steps": 10000,
+    "eval_freq": -1,
+    "log_freq": 100,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 1000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.001,
+        "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": 0.001,
+        "decay_lr": 0.0001
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "xlerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "tmqkc0d7",
+        "mode": null,
+        "add_tags": true
+    },
+    "peft": {
+        "target_modules": null,
+        "full_training_modules": null,
+        "method_type": "LORA",
+        "init_type": null,
+        "r": 32
+    },
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {
+        "observation.images.left_front": "observation.images.base_0_rgb",
+        "observation.images.left_left": "observation.images.left_wrist_0_rgb",
+        "observation.images.left_right": "observation.images.right_wrist_0_rgb"
+    },
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/004000/training_state/optimizer_param_groups.json b/004000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..43101a53bb1d1a432b75386c6c1e7b1f94cd2003
--- /dev/null
+++ b/004000/training_state/optimizer_param_groups.json
@@ -0,0 +1,881 @@
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diff --git a/004000/training_state/optimizer_state.safetensors b/004000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..7ef393005b7e47c69567229dab82c8938ab44565
--- /dev/null
+++ b/004000/training_state/optimizer_state.safetensors
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+version https://git-lfs.github.com/spec/v1
+oid sha256:75c40863386b9c451a0c98a588d43e411f398be8c5bee0f8537c06727a3fb291
+size 22197120
diff --git a/004000/training_state/rng_state.safetensors b/004000/training_state/rng_state.safetensors
new file mode 100644
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--- /dev/null
+++ b/004000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d22840af56c203a608e5d2a3ac7646d499aaad3d139e79b681308863299b1cc
+size 15708
diff --git a/004000/training_state/scheduler_state.json b/004000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..37fd0187d16b6be1b290829a65af715b7fd19ea2
--- /dev/null
+++ b/004000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.001
+    ],
+    "last_epoch": 4000,
+    "_step_count": 4001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        0.0006890576474687264
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
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diff --git a/004000/training_state/training_step.json b/004000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..75d870521c191f77dd9eaa4d83486eab6e768f69
--- /dev/null
+++ b/004000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 4000
+}
\ No newline at end of file
diff --git a/005000/pretrained_model/README.md b/005000/pretrained_model/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6565338d7b6577ddbee192786d397d22079b8338
--- /dev/null
+++ b/005000/pretrained_model/README.md
@@ -0,0 +1,204 @@
+---
+library_name: peft
+tags:
+- base_model:adapter:lerobot/pi0_base
+- lora
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.18.1
\ No newline at end of file
diff --git a/005000/pretrained_model/adapter_config.json b/005000/pretrained_model/adapter_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c00acefa2527617e9a485e421d89b9166fed77b
--- /dev/null
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+}
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diff --git a/006000/pretrained_model/README.md b/006000/pretrained_model/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6565338d7b6577ddbee192786d397d22079b8338
--- /dev/null
+++ b/006000/pretrained_model/README.md
@@ -0,0 +1,204 @@
+---
+library_name: peft
+tags:
+- base_model:adapter:lerobot/pi0_base
+- lora
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.18.1
\ No newline at end of file
diff --git a/006000/pretrained_model/adapter_config.json b/006000/pretrained_model/adapter_config.json
new file mode 100644
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--- /dev/null
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+{
+  "alora_invocation_tokens": null,
+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "PI0Policy",
+    "parent_library": "lerobot.policies.pi0.modeling_pi0"
+  },
+  "base_model_name_or_path": "lerobot/pi0_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 8,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "peft_version": "0.18.1",
+  "qalora_group_size": 16,
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": "(.*\\.gemma_expert\\..*\\.self_attn\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out))",
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}
\ No newline at end of file
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diff --git a/007000/pretrained_model/README.md b/007000/pretrained_model/README.md
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--- /dev/null
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@@ -0,0 +1,204 @@
+---
+library_name: peft
+tags:
+- base_model:adapter:lerobot/pi0_base
+- lora
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.18.1
\ No newline at end of file
diff --git a/007000/pretrained_model/adapter_config.json b/007000/pretrained_model/adapter_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c00acefa2527617e9a485e421d89b9166fed77b
--- /dev/null
+++ b/007000/pretrained_model/adapter_config.json
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+{
+  "alora_invocation_tokens": null,
+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "PI0Policy",
+    "parent_library": "lerobot.policies.pi0.modeling_pi0"
+  },
+  "base_model_name_or_path": "lerobot/pi0_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 8,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "peft_version": "0.18.1",
+  "qalora_group_size": 16,
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": "(.*\\.gemma_expert\\..*\\.self_attn\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out))",
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}
\ No newline at end of file
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8db50f8b58857a62075d4f954ca85daa1c539ba43bdacd7517c5453a6ba38c
+size 11101592
diff --git a/007000/pretrained_model/config.json b/007000/pretrained_model/config.json
new file mode 100644
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--- /dev/null
+++ b/007000/pretrained_model/config.json
@@ -0,0 +1,113 @@
+{
+    "type": "pi0",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.base_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.left_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                32
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                12
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": true,
+    "push_to_hub": true,
+    "repo_id": "F-Fer/pi0-xlerobot-0",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi0_base",
+    "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": [
+        "left_shoulder_pan.pos",
+        "left_shoulder_lift.pos",
+        "left_elbow_flex.pos",
+        "left_wrist_flex.pos",
+        "left_wrist_roll.pos",
+        "left_gripper.pos",
+        "right_shoulder_pan.pos",
+        "right_shoulder_lift.pos",
+        "right_elbow_flex.pos",
+        "right_wrist_flex.pos",
+        "right_wrist_roll.pos",
+        "right_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": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 0.001,
+    "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": 0.0001,
+    "tokenizer_max_length": 48
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+        "repo_id": "F-Fer/xlerobot-0",
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+        "image_transforms": {
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+        "method_type": "LORA",
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diff --git a/008000/pretrained_model/README.md b/008000/pretrained_model/README.md
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index 0000000000000000000000000000000000000000..6565338d7b6577ddbee192786d397d22079b8338
--- /dev/null
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@@ -0,0 +1,204 @@
+---
+library_name: peft
+tags:
+- base_model:adapter:lerobot/pi0_base
+- lora
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.18.1
\ No newline at end of file
diff --git a/008000/pretrained_model/adapter_config.json b/008000/pretrained_model/adapter_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c00acefa2527617e9a485e421d89b9166fed77b
--- /dev/null
+++ b/008000/pretrained_model/adapter_config.json
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+{
+  "alora_invocation_tokens": null,
+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "PI0Policy",
+    "parent_library": "lerobot.policies.pi0.modeling_pi0"
+  },
+  "base_model_name_or_path": "lerobot/pi0_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 8,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "peft_version": "0.18.1",
+  "qalora_group_size": 16,
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": "(.*\\.gemma_expert\\..*\\.self_attn\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out))",
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}
\ No newline at end of file
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--- /dev/null
+++ b/008000/pretrained_model/config.json
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+{
+    "type": "pi0",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.base_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.left_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
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+        "observation.images.right_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                32
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                12
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": true,
+    "push_to_hub": true,
+    "repo_id": "F-Fer/pi0-xlerobot-0",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi0_base",
+    "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": [
+        "left_shoulder_pan.pos",
+        "left_shoulder_lift.pos",
+        "left_elbow_flex.pos",
+        "left_wrist_flex.pos",
+        "left_wrist_roll.pos",
+        "left_gripper.pos",
+        "right_shoulder_pan.pos",
+        "right_shoulder_lift.pos",
+        "right_elbow_flex.pos",
+        "right_wrist_flex.pos",
+        "right_wrist_roll.pos",
+        "right_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": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 0.001,
+    "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": 0.0001,
+    "tokenizer_max_length": 48
+}
\ No newline at end of file
diff --git a/008000/pretrained_model/policy_postprocessor.json b/008000/pretrained_model/policy_postprocessor.json
new file mode 100644
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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
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+        "norm_map": {
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+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
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+++ b/008000/pretrained_model/policy_preprocessor.json
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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {
+          "observation.images.left_front": "observation.images.base_0_rgb",
+          "observation.images.left_left": "observation.images.left_wrist_0_rgb",
+          "observation.images.left_right": "observation.images.right_wrist_0_rgb"
+        }
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "pi0_new_line_processor",
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+    },
+    {
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+    }
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new file mode 100644
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diff --git a/009000/pretrained_model/README.md b/009000/pretrained_model/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6565338d7b6577ddbee192786d397d22079b8338
--- /dev/null
+++ b/009000/pretrained_model/README.md
@@ -0,0 +1,204 @@
+---
+library_name: peft
+tags:
+- base_model:adapter:lerobot/pi0_base
+- lora
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.18.1
\ No newline at end of file
diff --git a/009000/pretrained_model/adapter_config.json b/009000/pretrained_model/adapter_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c00acefa2527617e9a485e421d89b9166fed77b
--- /dev/null
+++ b/009000/pretrained_model/adapter_config.json
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+{
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+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "PI0Policy",
+    "parent_library": "lerobot.policies.pi0.modeling_pi0"
+  },
+  "base_model_name_or_path": "lerobot/pi0_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
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+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 8,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "peft_version": "0.18.1",
+  "qalora_group_size": 16,
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": "(.*\\.gemma_expert\\..*\\.self_attn\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out))",
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}
\ No newline at end of file
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+size 11101592
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--- /dev/null
+++ b/009000/pretrained_model/config.json
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+{
+    "type": "pi0",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.base_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.left_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
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+                224
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+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                32
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                12
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": true,
+    "push_to_hub": true,
+    "repo_id": "F-Fer/pi0-xlerobot-0",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi0_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 50,
+    "n_action_steps": 50,
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+    "num_inference_steps": 10,
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+    "relative_exclude_joints": [
+        "gripper"
+    ],
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+        "left_shoulder_lift.pos",
+        "left_elbow_flex.pos",
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+        "right_shoulder_pan.pos",
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+        "right_elbow_flex.pos",
+        "right_wrist_flex.pos",
+        "right_wrist_roll.pos",
+        "right_gripper.pos"
+    ],
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
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+    "empty_cameras": 0,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 0.001,
+    "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": 0.0001,
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+}
\ No newline at end of file
diff --git a/009000/pretrained_model/policy_postprocessor.json b/009000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a2e623f8277a52e915c3701c7cd9cf77ddf8d6
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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              12
+            ]
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+          "STATE": "MEAN_STD",
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+        }
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+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
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+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
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\ No newline at end of file
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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {
+          "observation.images.left_front": "observation.images.base_0_rgb",
+          "observation.images.left_left": "observation.images.left_wrist_0_rgb",
+          "observation.images.left_right": "observation.images.right_wrist_0_rgb"
+        }
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "pi0_new_line_processor",
+      "config": {}
+    },
+    {
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+      "config": {
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+        "task_key": "task",
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+    }
+  ]
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+{
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+        "episodes": null,
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+                            0.8,
+                            1.2
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+        "video_backend": "torchcodec",
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+}
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new file mode 100644
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+}
\ No newline at end of file
diff --git a/010000/pretrained_model/README.md b/010000/pretrained_model/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6565338d7b6577ddbee192786d397d22079b8338
--- /dev/null
+++ b/010000/pretrained_model/README.md
@@ -0,0 +1,204 @@
+---
+library_name: peft
+tags:
+- base_model:adapter:lerobot/pi0_base
+- lora
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]
+### Framework versions
+
+- PEFT 0.18.1
\ No newline at end of file
diff --git a/010000/pretrained_model/adapter_config.json b/010000/pretrained_model/adapter_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c00acefa2527617e9a485e421d89b9166fed77b
--- /dev/null
+++ b/010000/pretrained_model/adapter_config.json
@@ -0,0 +1,41 @@
+{
+  "alora_invocation_tokens": null,
+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "PI0Policy",
+    "parent_library": "lerobot.policies.pi0.modeling_pi0"
+  },
+  "base_model_name_or_path": "lerobot/pi0_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 8,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "peft_version": "0.18.1",
+  "qalora_group_size": 16,
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": "(.*\\.gemma_expert\\..*\\.self_attn\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out))",
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}
\ No newline at end of file
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+version https://git-lfs.github.com/spec/v1
+oid sha256:92df8bd89d2f1d46e3db6c1e82f755af708d118c8b547b852d6a343f8f5870f8
+size 11101592
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new file mode 100644
index 0000000000000000000000000000000000000000..5bded5dca90b3c498f402c92f09b4af980008111
--- /dev/null
+++ b/010000/pretrained_model/config.json
@@ -0,0 +1,113 @@
+{
+    "type": "pi0",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.base_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.left_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                32
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                12
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": true,
+    "push_to_hub": true,
+    "repo_id": "F-Fer/pi0-xlerobot-0",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi0_base",
+    "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": [
+        "left_shoulder_pan.pos",
+        "left_shoulder_lift.pos",
+        "left_elbow_flex.pos",
+        "left_wrist_flex.pos",
+        "left_wrist_roll.pos",
+        "left_gripper.pos",
+        "right_shoulder_pan.pos",
+        "right_shoulder_lift.pos",
+        "right_elbow_flex.pos",
+        "right_wrist_flex.pos",
+        "right_wrist_roll.pos",
+        "right_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": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 0.001,
+    "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": 0.0001,
+    "tokenizer_max_length": 48
+}
\ No newline at end of file
diff --git a/010000/pretrained_model/policy_postprocessor.json b/010000/pretrained_model/policy_postprocessor.json
new file mode 100644
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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              12
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {
+          "observation.images.left_front": "observation.images.base_0_rgb",
+          "observation.images.left_left": "observation.images.left_wrist_0_rgb",
+          "observation.images.left_right": "observation.images.right_wrist_0_rgb"
+        }
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "pi0_new_line_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 48,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "google/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
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+      "config": {
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+        "features": {
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+            "shape": [
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+              224,
+              224
+            ]
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+          "observation.images.left_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "observation.images.right_wrist_0_rgb": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              224,
+              224
+            ]
+          },
+          "observation.state": {
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+            "shape": [
+              32
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+          "ACTION": "MEAN_STD"
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+      },
+      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
+    }
+  ]
+}
\ No newline at end of file
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+{
+    "dataset": {
+        "repo_id": "F-Fer/xlerobot-0",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
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+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
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+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
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+                }
+            }
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
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+        "input_features": {
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+        "use_amp": false,
+        "use_peft": true,
+        "push_to_hub": true,
+        "repo_id": "F-Fer/pi0-xlerobot-0",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "lerobot/pi0_base",
+        "paligemma_variant": "gemma_2b",
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+        "use_relative_actions": false,
+        "relative_exclude_joints": [
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+            "left_shoulder_pan.pos",
+            "left_shoulder_lift.pos",
+            "left_elbow_flex.pos",
+            "left_wrist_flex.pos",
+            "left_wrist_roll.pos",
+            "left_gripper.pos",
+            "right_shoulder_pan.pos",
+            "right_shoulder_lift.pos",
+            "right_elbow_flex.pos",
+            "right_wrist_flex.pos",
+            "right_wrist_roll.pos",
+            "right_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": true,
+        "compile_mode": "max-autotune",
+        "freeze_vision_encoder": false,
+        "train_expert_only": false,
+        "optimizer_lr": 0.001,
+        "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": 0.0001,
+        "tokenizer_max_length": 48
+    },
+    "output_dir": "outputs/train/2026-04-10/14-19-24_pi0",
+    "job_name": "pi0",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 4,
+    "steps": 10000,
+    "eval_freq": -1,
+    "log_freq": 100,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 1000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.001,
+        "weight_decay": 0.01,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
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+}
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diff --git a/010000/training_state/optimizer_param_groups.json b/010000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..9634e1ba917ba49ba4f7ed154c00fd2fc762e4f2
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new file mode 100644
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--- /dev/null
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diff --git a/010000/training_state/training_step.json b/010000/training_state/training_step.json
new file mode 100644
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--- /dev/null
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+}
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