README.md

---
library_name: opentau
tags:
- robotics
- vla
- pi05
- robocasa
- manipulation
- flow-matching
- pytorch
base_model: williamyue/pi05_base
license: apache-2.0
datasets:
- robocasa/CloseMicrowave
- robocasa/CloseFridge
- robocasa/CloseCabinet
repo_url: https://github.com/TensorAuto/OpenTau
---

# Robocasa_navigatekitchen

A **pi0.5 (π₀.₅)** Vision-Language-Action (VLA) model, finetuned on the **ROBOCASA** robotic manipulation/navigation benchmark using the **OpenTau** training framework. This model is designed to follow natural language instructions to perform manipulation/navigation tasks in a simulated kitchen environment.

**For full documentation, evaluation results, and inference code, please visit the repository:**
<br>
👉 **[https://github.com/TensorAuto/OpenTau](https://github.com/TensorAuto/OpenTau)**

---

## Model Details

### Description
- **Model Type:** Vision-Language-Action (VLA) Model
- **Base Architecture:** π₀.₅ (pi0.5) by Physical Intelligence
- **Backbone:** PaliGemma-3B (VLM) + Gemma-300M (Action Expert)
- **Training Data:** Robocasa Benchmark
- **Framework:** OpenTau

### Architecture
The pi0.5 architecture uses a flow-matching-based policy designed for open-world generalization. It combines a Visual Language Model (VLM) for high-level semantic understanding with a smaller "action expert" model that generates continuous joint trajectories (10-step action chunks) via flow matching.

---

## Training and Evaluation

### Dataset
This model was finetuned on the **Robocasa** benchmark dataset. The Robocasa suite consists of human-teleoperated and mimicgen demonstrations for manipulation and navigation, covering:
- **CloseMicrowave** (Atomic)
- **CloseFridge** (Atomic)
- **CloseCabinet** (Atomic)

### Results
Training on 100 Human demonstrations, our model achieves **98% , 80% and 65%** success rate on CloseMicrowave, Close Fridge and Close Cabinet tasks respectively.
For detailed usage instructions, success rates, baseline comparisons, and evaluation protocols, please refer to the [OpenTau GitHub Repository](https://github.com/TensorAuto/OpenTau).