Model Card for pi05

π₀.₅ (Pi05) is a Vision-Language-Action model from Physical Intelligence designed for open-world generalization: it evolves π₀ to generalize to entirely new environments and situations that were never seen during training. The LeRobot implementation is adapted from their open-source OpenPI repository.

This policy has been trained and pushed to the Hub using LeRobot.

Learn how to train and run it in the LeRobot pi05 guide, or browse the full documentation.

Model Details

License: apache-2.0
Fine-tuned from: lerobot/pi05_base
Robot type: so100_so101_ee
Cameras: top, wrist, side

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
`observation.images.top`	VISUAL	`(3, 480, 640)`
`observation.images.wrist`	VISUAL	`(3, 480, 640)`
`observation.images.side`	VISUAL	`(3, 480, 640)`
`observation.state`	STATE	`(10,)`
`observation.images.top_padding_mask`	STATE	`(1,)`
`observation.images.wrist_padding_mask`	STATE	`(1,)`
`observation.images.side_padding_mask`	STATE	`(1,)`

Outputs

Feature	Type	Shape
`action`	ACTION	`(10,)`

Training Dataset

Repository: felsager/community_dataset_v3_ee_smolvla
Episodes: 37384
Frames: 19656518
Frame rate: 30 FPS
Task(s): "Grasp a pen and put it in the bin.", "Throw block in a hole", "Grasp a block and put it in the designated area. ", "Gateau dans bouchon bleu", "Place the circle to the center bottom box", "Grasp a black cylinder and put it in the bin.", "Go to the Red Jam.", "Would you please take all the plates for me?", "gather the right side granules", "Pick up the six-sided die and place it fully inside the red circle.", "Grasp red ball and put it in the yello bin.", "Grab kapla pieces and build a two level tower", "Pickup cup and make a pile of cup.", "push granules from right to the grey container", "Grasp the black mesuring tape and put it on your back", "Grasp a onion and put it in the bin.", "Pick all pens into pen holder", "Pick up the lego block.", "put the peach in the red bowl.", "Grasp blue balls and put them in the blue bin.", "turn the button of vending machine.", "Sweep the red cubes to the right with the tissue bag", "Draw some curves randomly.", "Remove everything from the square.", "solder the electronic board", "Put bottle cap(s) into a cup", "Grasp a clothespin and put it in the bowl.", "Close the left cabinet door", "Grab up the yellow tape and put it in the box.", "Pick up the second from the right apple slice from the cutting board and place it into the bowl", "Point First Point And Not Reset.", "Pick up the red square and place it in the transparent container", "Grasp a lego block and put it in the circle.", "Put the green tape measure into the white box", "Grasp a block and put it in the mug.", "Grasp a chess and put it in the blue box.", "Grasp a skyblue doll and put it in the white bowl.", "Pick up and place at grid spot 5", "Place the circle to the center top box", "Grasp a Black stone and put it in the board on position (0,0).", "Grasp a medicine box.", "Put the red square sponge into the box", "Put the green cube on top of the purple cube.", "Pick and place the green box with 2cameras", "Grasp a rubber and put it in the cup.", "Pick up the oranage cylinder and place it in the circular cutout", "Pick the wheel put it on the box.", "Stack the gold card deck on top of the white card deck.", "Pick up the red cube and stack it on the yellow cube.", "Grasp a pink glass an pile it over the other pink glasses", "Move box blue to home", "Put the yellow square into the bowl.", "Pick up the lid from the counter and put it on the green recipient", "Grasp a iphone charger block and put it in the bin.", "Grasp the egg and put it in the red bin.", "Pick up the yellow tape and place it in the box.", "Build a Hanoi Tower.", "put the peach in the red bowl .", "Grasp a hacky sack and put it in the bin.", "push granules from bottom to the grey container", "Grasp the green cube and put it in the bin.", "Pick up and place at grid spot 8", "Move box blue to zone 2", "Put the yellow cube on top of the orange cube.", "Pick up the forceps", "Grasp a dice and put it in a circle.", "Put the banana into the red bowl", "Put the green tape measure into the white box.", "Grasp the red block and put it in the bin - fixed location.", "Grasp a tape reel and place it on the book", "Grasp the tape and put it in the bin.", "Pick up Objects on the grey area and place it on the white dish.", "Grasp blue balls and put them in the yello bin.", "Grasp the cube and put it to grid 2.", "Grap cube and put at another cube", "Grasp a clip and put it in the bin.", "pick up the tennis balls and drop them in the red bowl.", "Grasp the white block and put it on the with card.", "抓取橡皮并将其放入盒子中", "Pick up the block from the white plate and place it into the black pot.", "Put all lego bricks in the bin.", "Grasp a medical waste and put it in the bin.", "Pick up the black duck and put it in the box", "Gob", "Separate blue and green blocks.", "Pick up the orange cube marked Y and place it in the brown box.", "Place the circle to the center left box", "Push the red cup to the pink target", "Grasp a whale and put it in the plate.", "Grasp a lego block and put it in the cup.", "Grasp the yellow pen put it in the bin.", "Grasp a duck and put it on the black surface.", "Grasp a dice and put it in the bin.", "Put bottle_cap into a cup", "Pick up the round, orange token and place it in the grid on square C2.", "Stack 3 Blocks on the chosen place.", "Grasp the eraser and put it in the box.", "move a blue block from tray to blue dish", "Pick up the blue block and place it in the box", "Pick up the blue square and place it in the transparent container", "Put the blue square into the purple area.", "Grasp a wheel and place it in to the moving bin.", "Grasp a cylinder and put it in the box", "Sort medicines into box.", "Grasp a red block and put it in the left red dish.", "Pick up the pen and put it in the pen holder.", "Grasp a Jenga piece and put it on top of another", "Grasp candy to circle.", "Put the red cube on top of the blue cube.", "Grasp the acorn and drop it in the cup.", "Put the orange cube on top of the yellow cube.", "Pick up a bottle and put it back down.", "Pick up the 2x2 green block and go up the 8x8 blue block.", "Grab a 3d block and put it in the bin.", "Pick the chicken and place it to the right.", "Grasp the cube and put it to grid 5.", "Pick up piece at A6 and place at D6", "Grasp a spare gripper jaw and put it in the empty camera box.", "Grasp the cube and put it to grid 6.", "Grab a domino", "Pick up the red cubes from the white plate and place them in the black recipient", "Grasp a black block and then place it on the green board.", "Grab a Jenga piece and put it on top the box", "Grasp the purple lego block and put it in the box.", "Pick an Item out of the plage.", "Grasp red balls and put them in the blue bin.", "Point First Point.", "Place bagel on jig", "Make tea", "Pick up the green pineapple from the left cabinet and place it in the green recipient", "Pick up trash and put it in the bin.", "Pick up piece at C5 and place at B6", "Pick up piece at D6 and place at D5", "Put the red cube on top of the yellow cube.", "Pick up a new token and plac it in the grid on square B2.", "Grasp an eraser and put it in the cup.", "hang_tape.", "Move box yellow to zone 2", "Pick up the blue block and place it on top of the red block.", "Grasp a ball and put it in the cup.", "Grasp a the blue cube and place it into the blue cube", "Grasp the black cup, lift it towards the plant pot, tilt the cup to pour out its contents, tilt it back, and return it to its original position.", "Pick up the pill bottle and place it in the black box.", "Grasp a block and put it in the bin.", "Grasp a servo box and put it on the zirlivani.", "Grasp a black cylinder and put it in a bowl.", "Grasp 3d block and put it in the bin.", "Grab domino and drop in the yellow place", "Grasp the banana and put it in the red bowl ", "soft", "Grasp a small box and put it into the container.", "Pick up the items on the white plate and put them in the black container.", "Put the green cube on top of the orange cube.", "Pick up nut and put it in the circle.", "Grasp a cate and put it in the box.", "Grasp a globe and put it in the bin.", "Pick up and place at grid spot 6", "Grasp a cup to the same shape", "Pick up piece at A8 and place at D8", "Grasp a toy truck onto the red notebook.", "Pick up the green marker.", "Move the blue chess pieces as indicated by the highlighted squares", "Pick up the round, orange token and place it in the grid on square B1.", "Put the green cube on top of the blue cube.", "Pick up the yellow dice and place in bowl", "Put the orange cube on top of the purple cube.", "Grasp a beer cap and put it in the glass.", "Put the purple cube on top of the red cube.", "Grasp a bottle cap.", "Grasp a yellow duck and put it in the box.", "catch_the_pene", "Fold the blanket.", "Put the orange cube on top of the green cube.", "Grasp beanbag and put it in the bin.", "Grasp a paper box and put it in the bin.", "Grasp a skyblue doll and put it into the bowl.", "put the banana in the red bowl .", "Pick up the red car and place in bowl", "Grasp a block and put it in the box.", "Pick the cube", "Pick up the round, orange token and place it in the grid on square C3.", "Grasp the pink cuboid and put it in the bin.", "Pick up the lego figure and place in bowl", "Grasp a cube and put it in the bin.", "Wooper wants to eat egg sudhi, and Goomy wants to eat shrimp sushi", "Grasp a cube and put it in the box.", "Pick up the scissors", "Ramasse la gomme et mets-la dans le bol.", "Grasp the red cube and put it in the red bowl ", "Put the green cube on top of the yellow cube.", "Grasp the red box and put it in the box.", "Pick the yellow lemon and drop it in the red bowl", "Grasp the cube and put it to grid 3.", "Pick up the candy and put in the purple bowl.", "Pick up and place at grid spot 2.", "Grasp the cube and put it to grid 8.", "Grasp the black cup, lift it towards the plant pot, tilt the cup to pour out its contents, tilt it back, and return it to its original position..", "Grasp the red marker eraser and place it on the pink notebook.", "put the wheel on the box", "Grasp a woden block and put it in the pot.", "Pick up the round, orange token and place it in the grid on square A2.", "Grasp a green tool and herd all the particles to the grey bin.", "Put the blue cube on top of the green cube.", "Put the green square into the bowl", "Put the tape inside the circle.", "Pick up green highlighted object and drop in grey container", "Move box red to home", "Grasp a component and put it in the bin.", "Put the red cube on top of the green cube.", "Pick a white block and place it in the black box.", "Pick up the 2x4 orange block and go up the 8x8 blue block.", "Grasp the block and place it in the designated area.", "Pick up white blocks from the white plate and place it into the black pot.", "gather the left side granules", "Pick up the dice with number 6", "Grasp all tape and put them in the bin.", "Pick the coffee caps and put it into the top drawer of the teabox", "Pick up a new token and place it in the grid on square A2.", "Pick up and place in grid spot 8.", "Put the blue cube on top of the orange cube.", "Put the red square into the bowl", "Sort rubbish by color.", "Pick up the round, orange token and place it in the grid on square C1.", "Grasp the red cubes and put them on the white towel.", "盖盖子", "Place the circle to the bottom right corner box", "Put the blue cube on top of the red cube.", "Fold the bag from the bottom right corner", "Grasp a tape and put it in the drawing circle.", "Grasp a duck and place it on the black square", "Pick up the orange cubes and place them in the brown box.", "hogehoge", "Pick up the round, orange token and place it in the grid on square B3.", "Move blocks one by one until all three blocks are in the tray. ", "Pick up green blocks from the white plate and place it into the black pot.", "Pick up the eraser and put it in the box.", "Grasp a lego block and put it in the bin.", "Pick up the round, orange token and place it in the grid on square A1.", "Pick up and place at grid spot 1.", "Grasp a mini car and put it in the bin.", "Grasp small items and put it in the red bowl.", "Pick the pig and place it to the right.", "Grasp a peg and put it in the crate.", "Pick the ball and put it in the box.", "Grasp basketball and place into cup.", "Pick up the black marker.", "Place the cutlery in the same coloured dish.", "Grab a green square and put it in the brown box.", "Grasp a banana and put it on a drawing.", "Place the circle to the top left corner box", "Pick up nut and drop in cup.", "Unplug the cable.", "移动橡皮", "Pick up the blue marker.", "Pick up the toy red car and place in bowl", "flip A0", "Flip A3.", "Grasp a orange cap and put it in the red box.", "Put the purple cube on top of the green cube.", "Put the blue cube on top of the yellow cube.", "Move the pen into the tray.", "Pick up the red circle and place it in the transparent container", "Put pabble(s) into a cup", "Put an object in the bin", "Pick up the blue circle and place it in the transparent container", "Grasp the yellow lego block and put it in the box.", "Pick up the red dice and place in bowl.", "Move box yellow to home", "Place the circle to the center box", "Grasp a stone and put it in the board on position 0.", "Grasp the colored block, Place it on the black dot, and then return the arm to the default position.", "Grasp a marker", "eraser", "Grasp the yellow block and put it in the fixed green bin.", "Pick up the third from the right apple slice from the cutting board and place it into the bowl", "Grasp a box and put it in the side.", "Remove the cube from the box.", "Grasp and put it in the bin.", "Grasp a lego block and put it in the box.", "Grasp a block and put it in the designated area.", "Pick up the box.", "Pick the red lego block and put it in the box.", "Pick up and place in grid spot 1.", "Grasp the bottle onto the wooden plate.", "Grasp candy to fix circle.", "Grasp a black block and put it in the bin.", "close drawer.", "Grasp a chess and put it in blue box.", "Grasp a black cube and put it in the box.", "Grasp a toy car and place it into the box.", "Pick nuts and sort by color.", "Open the left cabinet door", "Pick the fruit and place it on the white plate.", "Grasp a wheel and place it in the bin.", "Place the black cylinder in the wooden box then return to rest.", "Grasp the block and drop it in the designated area.", "Flip down a character on the board.", "Play LA", "Grasp a battery and put it in the box.", "Grasp a object.", "Lerobot_test", "sample", "put the plum in the red bowl .", "Grasp a toxy and put it in the bin.", "Put the packaging box into the white box.", "Pick up the red cube and put it in the box.", "Grasp a yellow box and put it in the bin.", "Put all blocks into the box.", "move two blocks tray to matching dishes", "Put the yellow cube on top of the purple cube.", "Grasp a mini cookies block and put it in the white box.", "Grasp a plug and put it in the bin.", "Push the valve with the cup.", "Grasp a block and put it", "Please take one of the plates.", "Pick up a new token and plac it in the grid on square B3.", "Pick up the cube and place it in the box.", "Pick up and place at grid spot 7", "Grasp an orange object and put it in the bin.", "Grasp a green cube and put in a box.", "Pick up cube and place in grey container, use gripper visualisation feed", "Remove the yellow tape from the box.", "Push the box on top of the target", "Grasp a block and put it in the circle.", "Put the orange cube on top of the red cube.", "Unfold the bag from bottom right corner", "Draw a circular shape on the ipad using the apple pencil", "Grasp the bagel and put it in the center bin.", "Pick and Place.", "Grasp and put it in the bin, use two camera.", "Grasp a blue block and put it inside the yellow bin.", "Pick a purple dice and put it in the plate.", "Hold this", "Open the top drawer of the teabox", "Put the green square into the purple area.", "Put a screwdriver into the toolbox.", "easy transfer", "Grasp a carton box block and put it in the mug", "pour a coffee into the cup", "Grasp a toy and put it in the bin.", "Grasp seal plushy and put it in the white box", "Grasp anything.", "Grasp a lego figure and put it in the box.", "Pick up the golf ball and place it on the gray mark at the back.", "clean the desk.", "Pick the cow and place it to the right.", "Grasp the iron and solder the electronic board", "Grab a orange square and put it in the brown box.", "gather the bottom side granules", "Grab a blue square and put it in the brown box.", "Grasp a yellow pompom and put it in the yellow bowl.", "Grasp a lego and put it in the basket.", "Put the yellow cube on top of the green cube.", "Grasp the orange cup and stack it in the blue cup", "Grasp a lego block and put it on the plate.", "Pick up the fruits and place them on the plate.", "grab the candle wick and place it in the tray.", "Pick up a new token and plac it in the grid on square A3.", "Grasp squirtle and keep him close to you ", "Pick the yellow lego block and put it in the box.", "put the tape in the box", "Pick up rose from vase and place it onto the table", "Draw a line in the middle of the ipad using the apple pencil", "Use the robotic gripper to securely grasp a visible carrot and accurately place it within the clearly marked square area on the surface.", "サーボモーターの箱をシルバーの箱に入れる", "Pick up the leftmost apple slice from the cutting board and place it into the bowl", "Grasp a glasses and put it in the bin.", "Grap a orange block and put it in the box.", "Pick up the ball and place it in the cup.", "Pick up veggie straw from inside of open veggie straw packet and place it inside the bowl on the left side of the veggie straw packet", "Put the green cube on top of the red cube.", "Pick blocks and place them in the box.", "Pick the bunny up and put it in the box.", "Move the piece to destination", "Grasp a LAR and go to rest position", "Grasp a bag and put it in the box.", "Pick the gray block and keep it in the box.", "Put the red cube on top of the purple cube.", "move a red block from tray to red dish", "Pick the red lego block and put it in the box.", "Put the green square sponge into the box", "Move the white rook to D4 on the chessboard.", "Grasp the Y cube, keep the “Y” upright (not upside-down), and place it at the center.", "Grasp a coca and flip", "Pick up red ball and place in grey container", "Grasp a pengrip and put it in the cup.", "Put the purple cube on top of the blue cube.", "Flip A2.", "Do Nothing", "Put the blue cube on top of the purple cube.", "Place the circle to the top right corner box", "Take the rose from the rightside of the table and put it in the vase in the middle of the table", "catch_the_pen", "Pick up and place in grid spot 6.", "Pick up the red marker.", "Grab the water bottler", "Grab the forceps", "Stack the balls on top of each other.", "Grasp a pen and move it to a new platform.", "Pick up the red cube and stack it on the green cube.", "Put the servo motor packaging box into the white box.", "Put the coffee cap into the top drawer of the teabox", "Grasp rope and reposition.", "Grasp the cube and put it to grid 7.", "Grasp a wheel and put it in the bin.", "Pick up the items from the white plate and place them in the black recepient.", "Grab a box on the table and put it into the translucent a box.", "Put the orange cube on top of the blue cube.", "Grasp a green tool by the dark brown handle.", "Grasp the cube and put it to grid 9.", "Grasp the lego block and put it in the bin.", "Pick up the red dice and place in bowl", "Grasp a pen and put it in the box.", "Pick up a lego block.", "消しゴム", "Grasp a matchbox and place it in the circle.", "Put salt in the gray recipient", "Pick and place for test", "Grasp object and put it in the box", "flip A3", "Pick up the green pineapple from the left cabinet and place it in the gray recipient", "Grasp a green lego block and put it in the bin.", "Pick up a new token and plac it in the grid on square B1.", "Grasp a lego and put it in the bin.", "Pick and place a block into the bin", "Pick up the dice on the left.", "Pick up the 2x2 yellow block and go up the 8x8 blue block.", "Pick up the red and black lego figure and place in bowl", "put banana in the red bowl.", "Grasp a block and put it in the cup.", "Take off the lid from the gray recipient and place it on the counter", "Shake the person's hand.", "Grasp a box and put it in the bin.", "Grasp a stone and put it in the board on position (0,0).", "Grasp a metal block and put it in the box.", "put plum in the red bowl.", "Pick up the 2x4 green block and go up the 8x8 blue block.", "Grasp a sunglass and put it in the bin.", "Grasp the shape and place it on the puzzle board", "Grasp a nerf arrow and put it in the bin.", "Grab the kapla pieces and build a two level tower", "Grasp the yellow block and put it in the green bin.", "Pick up a new token and plac it in the grid on square C3.", "grab the candle wick by the aluminium plate and place it in the tray.", "Touch the pen.", "Grasp a red cube and put it in the cup.", "flip A2", "Grasp blue ball and put it in the yello bin.", "Grasp a yellow lego block and put it in the bin.", "Grasp a cube and put it in the cup.", "Place the circle to the center right box", "Pick up the blue cube and place it in the box.", "Pick up the spray and place it in the box.", "Draw 2 dots in a circle representing the eyes of a stickman", "Put the red cube on top of the orange cube.", "Grasp a cube block and put it in the white box.", "push granules from left to the grey container", "Grasp a boll", "Flip A0.", "Grasp a blue cylinder and put it inside the red container.", "Grasp the cube and drop it in the bowl", "Pick up a pen", "Put the red cube in the bin", "place blue block on red block, then place yellow block on blue block", "Pick up the dice on the center.", "Grasp the marker and place it next to the deck of cards.", "Grab the qbotic and place it in the box", "Grasp the cube and put it to grid 4.", "Hold", "prendre une balle et la placer dans un trou", "Grasp the yellow shape and drop it in the right slot", "Grasp tied cables and put them in the cup.", "Pick the rubik cube and put it in the red box.", "Pick up the round, orange token and place it in the grid on square A3.", "lerobot_test6", "Pick up the 2x2 orange block and go up the 8x8 blue block.", "Please give me two plates.", "Grab a fry", "Take off the lid from the green recipient and place it on the counter", "Pick up the blue cube and place it in the wooden box.", "Look the coin", "Put the yellow cube on top of the red cube.", "Grasp a box and move it to the right side of the pencil.", "Stack the cubes from left to right.", "Grasp an little apple and put it in the bin.", "Pick up the 2x2 red block and go up the 8x8 blue block.", "Grasp a ball and put it in the box.", "put the banana in the red bowl.", "Grasp the cup and put it in the center of the table.", "Point It.", "Grasp a duck and put it in the bin.", "Grasp the cup and put it on the right side of the table.", "Put the yellow square into the purple area.", "Pick up the cube and drop it in the cup.", "Grasp a medic box and put it in the bin.", "pick the boat", "Grasp a carrot and put it in the bin.", "Put the yellow cube on top of the blue cube.", "Both wheel and bin are dynamics.", "Play chess", "Grasp the tape and put it in the box.", "Put the red cube in the right box and the blue cube in the left box.", "Coge una pila de 9v y llevala a la caja azul.", "Grasp a green pompom and put it in the green bowl.", "Stack the blue cube on the green cube", "Pick up and place in grid spot 7.", "Grasp red, green, yellow ducks and put them in the box.", "rotate jiaobang", "Grasp the red ball and put it in the bin.", "Pick up the yellow duck and put it in the box", "Grasp some building blocks and build the house on the picture.", "Grasp all balls and put them in the yello bin.", "Pick up object", "Push a circle block to the blue square in the center.", "Grasp a lego block and put it in the bin 3 cameras.", "Grasp a gauze and put it in the cup.", "Pick up the rightmost apple slice from the cutting board and place it into the bowl", "Grab the coffee stick and send it out of the area.", "Put a box in an other box", "Pick up the dice on the right.", "Grab the screw and set it in the hole.", "Stack a lego block on another block.", "put the lemon in the red bowl.", "Grasp the banana and put it in the red bowl .", "Grasp a strawberry bear and put it in the bin.", "Grab a lego block and put it in the bin.", "Pick up Objects on the white dish and place it on the black pot.", "Grasp a blue block and put it in the bowl.", "Grab a yellow square and put it in the brown box.", "Put the blue square into the bowl", "Grasp ORANGE.", "Grasp a mesuring tape and put it on your back", "Grasp a tape and put it in the bin.", "Grasp the tape and put it to placement 4.", "Grasp the gray block and put it in the box.", "Grasp a blue cube in a box.", "Grasp a dice block and put it in the correct location.", "Move the black knight on a chessboard.", "Test Run.", "Grasp a glue roll and put it in the bin.", "grasp usb and place on top of silicon", "Stack the three blocks in an ordered color.", "Can you put the plate away?", "Grasp a tape and put it in the right purple dish.", "Move box yellow to zone 1", "Grasp a red block and put it in the bin.", "Pick up the banana and place it on the plate", "Pick up and place at grid spot 3.", "Put a bottlecap into a cup", "Stack the 3 blocks", "Put the red square into the purple area.", "Pick up a new token and plac it in the grid on square C2.", "Pick up the dice.", "Grasp a block and put it into a circle", "Pick up all the lego then put into the bin", "Pick up the wooden block and place them on the plate.", "Put the black duck into the box", "pick up biomedical waster and put it in the respective bin.", "Grab a bottle of soybeans and pour it into this cup.", "Grasp a Jenga piece and put it on top the box", "Move box red to zone 2", "Grasp the blue bottle onto the wooden plate.", "Pick up the round, orange token and place it in the grid on square B2.", "Pick up a new token and plac it in the grid on square C1.", "Stacking block with wrist camera.", "Move box red to zone 1", "抓取橡皮放入盒子中", "Pick and place the blue cube", "Pick up and place in grid spot 9.", "Grasp a pen and put it in a mug.", "Grasp the yellow cuboid and put it in the bin.", "Grasp a wood brick and put it in the bin.", "Pick up and place in grid spot 5.", "Move box blue to zone 1", "Grasp a cucumber and put it in the hole.", "Pick the yellow lego block and put it in the box.", "Stack cubes from left to right.", "Put the blue square sponge into the box", "Grasp an apple and move it outside the mat.", "Pick up the green square and place it in the transparent container", "Pick the sheep and place it to the right.", "Grab a gum.", "Pick up the red cube and place it in the box.", "Grasp 4 blocks and put it in the black pod.", "Grasp the red cude and put it in the red bowl .", "Hanoi tower.", "Pick up the charger and put it on the white tissue.", "Push the O-shape type to the right place.", "Pick up piece at B5 and place at C7", "Put the yellow duck into the box", "Grasp a red block and put it in the dish.", "Play every note", "Grasp red balls and put them in the yello bin.", "Put the purple cube on top of the orange cube.", "Pick up piece at B5 and place at B6", "Grasp the cube and put it to grid 1.", "Grasp a lego toy and put it in the bin.", "Grasp a tape and put it in the target area.", "Grasp a green lego block and put it in the red bin.", "Put the purple cube on top of the yellow cube.", "Grasp the bottle from right to left.", "Grasp the red stick put it in the bin.", "Could you take three plates?", "Grasp a ball and put it on a goblet.", "move six blocks tray to matching dishes", "Pick up and place at grid spot 4.", "Pick up the lid from the counter and put it on the gray recipient", "Pick up the yellow block and place it in the transparent container", "Grasp the lego brick and put it in the box.", "Grasp a battery and put it in the bin.", "Grab the scissors", "Grasp a lego block and put it in the bin. Camera top", "Pick up the black block and place it in the transparent container", "trash in the cup", "Pick up the green cubes from the white plate and place them in the black recipient", "Place the coffee capsule into the cup.", "Grasp tool and reposition duck", "Pick up a new token and place it in the grid on square A1.", "Find the closest Lego and put it in the bin.", "Pick the green lego block and put it in the box.", "put peach in the red bowl.", "Place the circle to the bottom left corner box", "Grasp mouse plushy and put it in the white box", "Draw a face"

Training Configuration

Setting	Value
Training steps	80000
Batch size	16
Optimizer	adamw
Learning rate	5e-05
Seed	0
LeRobot version	0.6.2

How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

Install LeRobot — set up the lerobot package.
Hardware setup — assemble, wire, and calibrate your robot and cameras.
Record data & train a policy — the end-to-end imitation-learning walkthrough.
CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

lerobot-rollout \
  --strategy.type=base \
  --robot.type=so100_so101_ee \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=felsager/pi05_base_ee_rel \
  --task="Grasp a pen and put it in the bin." \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

This policy type is usually fine-tuned from the pretrained base model lerobot/pi05_base:

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.path=lerobot/pi05_base \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

Evaluation

No evaluation results have been provided for this policy yet.

Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}

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Model size

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F32

BF16

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Robotics

Model tree for felsager/pi05_base_ee_rel

Base model

google/paligemma-3b-pt-224

Finetuned

lerobot/pi05_base