---
library_name: diffusers
pipeline_tag: robotics
tags:
  - robotics
  - vision-language-action
  - pi0.5
  - diffusers
license: other
---

# PI0.5 Base — GigaModels PyTorch Conversion

This repository contains a PyTorch Diffusers-format conversion of the
Physical Intelligence PI0.5 base checkpoint. The weights were converted from
the official OpenPI JAX checkpoint with the following script from
[open-gigaai/giga-models](https://github.com/open-gigaai/giga-models):

- [`projects/vla/pi0/scripts/convert_jax_model_to_pytorch.py`](https://github.com/open-gigaai/giga-models/blob/main/projects/vla/pi0/scripts/convert_jax_model_to_pytorch.py)
- [GigaModels PI0/PI0.5 documentation](https://github.com/open-gigaai/giga-models/blob/main/projects/vla/pi0/README.md)

No additional fine-tuning was applied to these base weights. The tokenizer
files are colocated with the converted policy so consumers can use one Hub
repository for both the policy and tokenizer.

## Loading with GigaModels

```python
from giga_models import PI0Policy

policy = PI0Policy.from_pretrained("Miical/pi05-base")
```

## Loading with verl-vla

Set the model path directly to the Hub repository:

```yaml
cluster:
  actor_rollout_ref:
    model:
      path: Miical/pi05-base
```

Normalization statistics are embodiment- and dataset-specific and are not
included in this base checkpoint. Configure `model.adapter.norm_stats_path`
when training or evaluating with verl-vla.

## Attribution and license

The conversion implementation is provided by GigaModels under Apache-2.0.
Use and redistribution of the converted weights remain subject to the terms
applicable to the original PI0.5 checkpoint and its underlying components.
Please also cite the original PI0/PI0.5 work as requested by the GigaModels
documentation.