Timsty
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pi_base_models_torch

reinforcement-learning

robotic-manipulation

action-chunking

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-# Mixture of Horizons in Action Chunking
-This repository hosts the official implementation of **Mixture of Horizons (MoH)**, introduced in the paper [Mixture of Horizons in Action Chunking](https://huggingface.co/papers/2511.19433).
 Vision-language-action (VLA) models for robotic manipulation are highly sensitive to the chosen **action chunk length**, termed **horizon** in this work. A fixed horizon presents an inherent trade-off: longer horizons offer superior global foresight but compromise fine-grained accuracy, while shorter ones provide precise local control but struggle with long-term tasks.

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+# This repository provided the torch-version openpi checkpoints (pi0base, pi0.5base) coverted from JAX-version!
+# [Mixture of Horizons in Action Chunking](https://huggingface.co/papers/2511.19433)
 Vision-language-action (VLA) models for robotic manipulation are highly sensitive to the chosen **action chunk length**, termed **horizon** in this work. A fixed horizon presents an inherent trade-off: longer horizons offer superior global foresight but compromise fine-grained accuracy, while shorter ones provide precise local control but struggle with long-term tasks.