---
license: apache-2.0
tags:
- robotics
- safety
- libero
- vision-language-action
---

# SafeLoop Pi0 Release Weights

This repository contains the lightweight SafeLoop `pi0-v1` weights:

- Qwen2.5-VL multitask heads for future and current body/object risk
- initialization heads used by the released predictor training recipes
- the three-action decision head for `noop`, `record`, and `rollback`
- the decision-head initialization used by the released online training recipe

Code and configuration:
https://github.com/Loule0-0/SafeLoop/tree/release/safeloop

## Download

```bash
python scripts/download_release_weights.py \
  --output-dir "$SAFELOOP_WEIGHTS"
```

The downloader uses the `pi0-v1` revision and verifies every file against
`configs/release/artifacts_pi0_v1.json`.

## Runtime

- Base policy config: `pi0_libero`
- Predictor backbone:
  `Qwen/Qwen2.5-VL-3B-Instruct@66285546d2b821cf421d4f5eb2576359d3770cd3`
- Decision actions: `noop`, `record`, `rollback`

See `manifest.json` for file sizes, SHA256 values, and task routing.