Upload policy weights, train config and readme

README.md

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+---
+datasets: airoa-org/airoa-moma
+library_name: lerobot
+license: apache-2.0
+model_name: pi05
+pipeline_tag: robotics
+tags:
+- lerobot
+- robotics
+- pi05
+---
+
+# Model Card for pi05
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+**π₀.₅ (Pi05) Policy**
+
+π₀.₅ is a Vision-Language-Action model with open-world generalization, from Physical Intelligence. The LeRobot implementation is adapted from their open source OpenPI repository.
+
+**Model Overview**
+
+π₀.₅ represents a significant evolution from π₀, developed by Physical Intelligence to address a big challenge in robotics: open-world generalization. While robots can perform impressive tasks in controlled environments, π₀.₅ is designed to generalize to entirely new environments and situations that were never seen during training.
+
+For more details, see the [Physical Intelligence π₀.₅ blog post](https://www.physicalintelligence.company/blog/pi05).
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

adapter_config.json

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+{
+  "alora_invocation_tokens": null,
+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "PI05Policy",
+    "parent_library": "lerobot.policies.pi05.modeling_pi05"
+  },
+  "base_model_name_or_path": "lerobot/pi05_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 8,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "peft_version": "0.18.1",
+  "qalora_group_size": 16,
+  "r": 2,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": "(.*\\.gemma_expert\\..*\\.self_attn\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out))",
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}

adapter_model.safetensors

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+oid sha256:a0bd9f8f6bf7b2012d2bcfe48b3f6309e5fa635fc0bb6ae5e67180c3f18928c9
+size 656312

config.json

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+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.image.head": {
+            "type": "VISUAL",
+            "shape": [
+                480,
+                640,
+                3
+            ]
+        },
+        "observation.image.hand": {
+            "type": "VISUAL",
+            "shape": [
+                480,
+                640,
+                3
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "output_features": {
+        "action.absolute": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
+        },
+        "action.arm": {
+            "type": "ACTION",
+            "shape": [
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+        "action.gripper": {
+            "type": "ACTION",
+            "shape": [
+                1
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+        "action.head": {
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+                8
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+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": true,
+    "push_to_hub": true,
+    "repo_id": "lt-s/test_pi05",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "num_inference_steps": 10,
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+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
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+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
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+    "optimizer_betas": [
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+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}

train_config.json

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+{
+    "dataset": {
+        "repo_id": "airoa-org/airoa-moma",
+        "root": "/srv/shared/ICRA2026/datasets/airoa-moma-pi05",
+        "episodes": null,
+        "image_transforms": {
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+                            0.8,
+                            1.2
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+                            0.5,
+                            1.5
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+                    "kwargs": {
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+                            -0.05,
+                            0.05
+                        ]
+                    }
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+                "sharpness": {
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+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
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+                            5.0
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
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+    "policy": {
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+                "shape": [
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+        "license": null,
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+    "rabc_head_mode": "sparse",
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+}