README.md

---
license: gemma
library_name: lerobot
pipeline_tag: robotics
tags:
  - robotics
  - lerobot
  - pi052
  - vision-language-action
base_model: lerobot/pi05_base
---

# PI0.5 v2 initialization checkpoint

`lerobot/pi052_base` is the native LeRobot initialization checkpoint for the
PI0.5 v2 (`pi052`) policy.

It contains the same pretrained tensor values as
[`lerobot/pi05_base`](https://huggingface.co/lerobot/pi05_base), converted once
to PI052's native LeRobot state-dict layout and paired with a `pi052`
configuration and processor pipeline. It can therefore be loaded through
LeRobot's standard checkpoint loader without runtime key conversion.

This checkpoint has **not** received additional PI052 hierarchical-language or
FAST-objective training. It is the starting point for PI052 fine-tuning, not a
trained hierarchical policy.

## Load

```python
from lerobot.policies.pi052.modeling_pi052 import PI052Policy

policy = PI052Policy.from_pretrained("lerobot/pi052_base")
```

## Fine-tune

```bash
lerobot-train \
    --dataset.repo_id=${HF_USER}/my_language_annotated_dataset \
    --policy.type=pi052 \
    --policy.pretrained_path=lerobot/pi052_base \
    --policy.recipe_path=recipes/subtask_mem.yaml \
    --policy.dtype=bfloat16 \
    --policy.device=cuda
```

PI0.5 is derived from PaliGemma and is distributed under the Gemma license.