helen9975/pi05-molmoact-yam

π₀.₅ MolmoAct2 BimanualYAM

Fine-tuned π₀.₅ on the MolmoAct2-BimanualYAM-Dataset (3 cameras: top → left → right).

Checkpoint details

Setting	Value
Training step	100000
Cameras	top, left, right
Action dim	14 (absolute joints + grippers)
Chunk size	30 (@ 30 Hz)
VLM	unfrozen (freeze_vision_encoder=false, train_expert_only=false)
Base model	lerobot/pi05_base
Gripper range	[0, 1] (continuous)

Usage (LeRobot)

from lerobot.policies.pi05.modeling_pi05 import PI05Policy
from lerobot.policies.factory import make_pre_post_processors

ckpt = "helen9975/pi05-molmoact-yam"
policy = PI05Policy.from_pretrained(ckpt)
preprocessor, postprocessor = make_pre_post_processors(policy.config, pretrained_path=ckpt)

Open-loop smoke (2 held-out episodes, stride 30, reset-each-step)

• MSE: 0.00140
• MAE: 0.0211