metadata
language:
- en
library_name: lerobot
pipeline_tag: robotics
tags:
- vision-language-action
- lerobot
inference: false
license: gemma
base_model: lerobot/pi05_base
framepick base checkpoint (pi0.5 + subtask + frame re-expression)
Weights are bit-identical to lerobot/pi05_base.
The checkpoint self-describes the framepick architecture (LeRobot plugin
lerobot_policy_framepick): config.json has type: framepick, and
policy_preprocessor.json carries the subtask tokenizer step plus the framepick
step with a NEUTRAL frame selector. Experiment knobs (which frames, selection
strategy) live in the training config, e.g.
--policy.frame_selector.assignment='{"arm": "image2"}'.
Generated by lerobot_policy_pi05_subtask/scripts/prepare_base_checkpoint.py --policy-type framepick. See also dgrachev/pi05_subtask_base (same weights,
pi05_subtask architecture) and the dgrachev/libero_extrinsics dataset.