Add link to paper
#8
by nielsr HF Staff - opened
README.md
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**Note:** This model currently supports only the flow-matching action head for π₀.₅ training and inference.
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Other components from the original work (e.g., subtask prediction, action tokenization, or RL) were not released upstream and are not included here, though the LeRobot team is actively working to support them.
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**Original paper:** π0.5: A Vision-Language-Action Model with Open-World Generalization
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**Reference implementation:** https://github.com/Physical-Intelligence/openpi
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**LeRobot implementation:** Follows the original reference code for compatibility.
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**Note:** This model currently supports only the flow-matching action head for π₀.₅ training and inference.
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Other components from the original work (e.g., subtask prediction, action tokenization, or RL) were not released upstream and are not included here, though the LeRobot team is actively working to support them.
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**Original paper:** [π0.5: A Vision-Language-Action Model with Open-World Generalization](https://huggingface.co/papers/2504.16054)
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**Reference implementation:** https://github.com/Physical-Intelligence/openpi
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**LeRobot implementation:** Follows the original reference code for compatibility.
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