---
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