Add model card

README.md

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+---
+library_name: lerobot
+license: apache-2.0
+base_model: lerobot/pi05_base
+pipeline_tag: robotics
+tags:
+  - robotics
+  - lerobot
+  - pi0_5
+  - pi05
+  - manipulation
+  - block-transfer
+  - trossen-ai
+datasets:
+  - TrossenRoboticsCommunity/trossen_ai_stationary_block_transfer
+---
+
+# pi0.5 — Block Transfer (batch size 8)
+
+Fine-tuned [pi0.5](https://huggingface.co/lerobot/pi05_base) vision-language-action policy
+for the **block transfer** task on the **Trossen AI Stationary** bimanual platform.
+
+## Model details
+
+| | |
+|---|---|
+| **Architecture** | pi0.5 (PaliGemma `gemma_2b` backbone + `gemma_300m` action expert) |
+| **Base model** | [`lerobot/pi05_base`](https://huggingface.co/lerobot/pi05_base) |
+| **Framework** | [LeRobot](https://github.com/huggingface/lerobot) |
+| **Robot platform** | Trossen AI Stationary (bimanual, 14-DoF) |
+| **Cameras** | `cam_high`, `cam_low`, `cam_left_wrist`, `cam_right_wrist` (480×640 RGB) |
+| **Action chunk** | 50 steps, 10 inference steps |
+| **Precision** | bfloat16 |
+| **License** | Apache 2.0 |
+
+## Training
+
+| Hyperparameter | Value |
+|---|---|
+| **Batch size** | **8** |
+| Training steps | 100,000 |
+| Learning rate | 2e-5 (cosine decay to 2.5e-6 over 30k steps, 1k warmup) |
+| Optimizer | AdamW (β=(0.9, 0.95), wd=0.01, grad clip 1.0) |
+| Gradient checkpointing | Enabled |
+| Hardware | 1× NVIDIA H200 (141 GB VRAM) via [Trossen Cloud Service](https://www.trossenrobotics.com/) |
+| Dataset | [`TrossenRoboticsCommunity/trossen_ai_stationary_block_transfer`](https://huggingface.co/datasets/TrossenRoboticsCommunity/trossen_ai_stationary_block_transfer) |
+
+## Usage
+
+Load the policy with LeRobot:
+
+```python
+from lerobot.policies.pi0_5.modeling_pi0_5 import PI05Policy
+
+policy = PI05Policy.from_pretrained(
+    "TrossenRoboticsCommunity/pi05-block-transfer-bs8"
+)
+```
+
+See the [LeRobot pi0.5 docs](https://github.com/huggingface/lerobot) for the full
+inference / rollout setup on real hardware.
+
+## Files
+
+| File | Purpose |
+|---|---|
+| `config.json` | Policy configuration |
+| `model.safetensors` | Model weights (~7.5 GB) |
+| `policy_preprocessor.json` + `*_normalizer_processor.safetensors` | Input normalizer (state/action quantiles) |
+| `policy_postprocessor.json` + `*_unnormalizer_processor.safetensors` | Output unnormalizer |
+
+## Related models
+
+- [`TrossenRoboticsCommunity/pi05-block-transfer-bs8`](https://huggingface.co/TrossenRoboticsCommunity/pi05-block-transfer-bs8) — this model
+- [`TrossenRoboticsCommunity/pi05-block-transfer-bs32`](https://huggingface.co/TrossenRoboticsCommunity/pi05-block-transfer-bs32) — same task, batch size 32