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duobench-pi05-sim

Robotics
LeRobot
Safetensors
duobench
bimanual
manipulation
simulation
pi05
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  1. NOTICE +1 -0
  2. README.md +77 -0
  3. config.json +117 -0
  4. model.safetensors +3 -0
  5. policy_postprocessor.json +32 -0
  6. policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  7. policy_preprocessor.json +87 -0
  8. policy_preprocessor_step_2_normalizer_processor.safetensors +3 -0
  9. train_config.json +255 -0
NOTICE ADDED
@@ -0,0 +1 @@
 
 
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+ Gemma is provided under and subject to the Gemma Terms of Use found at ai.google.dev/gemma/terms
README.md ADDED
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+ ---
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+ license: gemma
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+ library_name: lerobot
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+ pipeline_tag: robotics
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+ datasets:
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+ - RobotControlStack/duobench
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+ base_model:
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+ - lerobot/pi05_base
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+ tags:
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+ - duobench
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+ - bimanual
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+ - manipulation
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+ - simulation
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+ - pi05
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+ ---
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+
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+ # DuoBench π0.5 (sim)
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+
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+ π0.5 policy for the bimanual FR3 Duo setup of [DuoBench](https://arxiv.org/abs/2606.11901), trained on simulation data only for all 11 DuoBench sim tasks (one multi-task policy).
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+ Fine-tuned from [`lerobot/pi05_base`](https://huggingface.co/lerobot/pi05_base) (revision `9e55186`) with [LeRobot](https://github.com/huggingface/lerobot) on the [DuoBench dataset](https://huggingface.co/datasets/RobotControlStack/duobench).
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+
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+ Project page: https://duobench.github.io/
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+ DuoBench Code: https://github.com/RobotControlStack/duobench
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+
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+ ## Training
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+ - Data: 50 demonstrations per task from the `<task>/sim` folders of [RobotControlStack/duobench](https://huggingface.co/datasets/RobotControlStack/duobench) (all tasks merged)
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+ - Inputs: `head`, `left_wrist` and `right_wrist` cameras (224x224) and the 16-D state (2 x 7 joints + 2 grippers); output: 16-D joint and gripper action
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+ - 40,000 steps, batch size 16, learning rate 2.5e-5, action chunk 50, seed 1000
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+ - LeRobot commit [`c8ce413d`](https://github.com/huggingface/lerobot/tree/c8ce413d738da15a2eed2d0832315779ea28cbf9); the full configuration is in `train_config.json`
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+
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+ ## Results
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+ Success rate (%) in DuoBench simulation over 300 rollouts per task (seeds 0-299) with a Wilson 95% interval.
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+
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+ | Task | Success | 95% CI |
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+ |---|---|---|
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+ | ball_maze | 5.0 | [3.1, 8.1] |
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+ | bin_sort | 1.7 | [0.7, 3.8] |
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+ | block_balance | 0.0 | [0.0, 1.3] |
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+ | carry_pot | 26.0 | [21.4, 31.2] |
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+ | hinge_chest | 26.7 | [22.0, 31.9] |
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+ | join_blocks | 0.0 | [0.0, 1.3] |
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+ | pour_marbles | 0.0 | [0.0, 1.3] |
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+ | spring_door | 19.7 | [15.6, 24.5] |
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+ | transfer_cube | 13.0 | [9.7, 17.3] |
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+ | transfer_gate | 23.3 | [18.9, 28.4] |
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+ | transfer_reorient | 1.3 | [0.5, 3.4] |
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+ | **mean** | **10.6** | |
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+
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+ ## Usage
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+ ```python
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+ # LeRobot at commit c8ce413d
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+ from lerobot.policies.pi05.modeling_pi05 import PI05Policy
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+
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+ policy = PI05Policy.from_pretrained("RobotControlStack/duobench-pi05-sim")
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+ ```
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+ See the [DuoBench code](https://github.com/RobotControlStack/duobench) for the simulation environments and evaluation.
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+
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+ ## Limitations
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+ - Trained on simulation data only; not meant for the real robot.
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+ - Loading needs a LeRobot version compatible with the commit above.
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+
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+ ## License
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+ This model is a Model Derivative of Gemma (π0.5 is built on [PaliGemma](https://huggingface.co/google/paligemma-3b-pt-224)) and is distributed under the [Gemma Terms of Use](https://ai.google.dev/gemma/terms).
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+ Gemma is provided under and subject to the Gemma Terms of Use found at ai.google.dev/gemma/terms (see `NOTICE`).
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+ Use of this model is subject to the [Gemma Prohibited Use Policy](https://ai.google.dev/gemma/prohibited_use_policy), which applies to every recipient and downstream user.
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+ The files in this repository are modified: they are the weights of `lerobot/pi05_base` fine-tuned on DuoBench simulation data.
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+
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+ ## Citation
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+ If you find this model or DuoBench useful for your work, please consider citing it:
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+ ```
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+ @misc{duobench,
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+ title={{DuoBench}: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World},
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+ author={Tobias J{\"u}lg and Seongjin Bien and Simon Hilber and Yannik Blei and Pierre Krack and Maximilian Li and Sven Parusel and Rudolf Lioutikov and Florian Walter and Wolfram Burgard},
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+ year={2026},
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+ url={https://arxiv.org/abs/2606.11901}
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+ }
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+ ```
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