metadata
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, 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
from lerobot.policies.pi052.modeling_pi052 import PI052Policy
policy = PI052Policy.from_pretrained("lerobot/pi052_base")
Fine-tune
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.