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FIRe-VLA-PI05-NutThread-Sim

Robotics
vla
vision-language-action
pi-05
nut_thread
sim
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metadata 
license: apache-2.0
tags:
  - robotics
  - vla
  - vision-language-action
  - pi-05
  - nut_thread
  - sim
pipeline_tag: robotics

FIRe-VLA-PI05-NutThread-Sim

A PI05 vision-language-action policy fine-tuned for the Nut threading contact-rich robotic assembly task (Sim domain), part of the FIRe model suite.

  • Framework: PI05
  • Task: Nut threading (nut_thread)
  • Domain: Sim
  • Checkpoint: inference-ready (9999 steps)

Usage 

# Requires openpi: https://github.com/Physical-Intelligence/openpi
huggingface-cli download bhe1004/FIRe-VLA-PI05-NutThread-Sim --local-dir ./FIRe-VLA-PI05-NutThread-Sim

# Point the openpi trained-policy loader at the downloaded checkpoint dir.
# The repo holds params/ + assets/ (norm stats); train_state/ was dropped
# since it is only needed to resume training.
from openpi.policies import policy_config
policy = policy_config.create_trained_policy(config, "./FIRe-VLA-PI05-NutThread-Sim")

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