| --- |
| license: apache-2.0 |
| tags: |
| - lerobot |
| - pi0 |
| - robotics |
| - moonbot |
| pipeline_tag: robotics |
| --- |
| |
| # moonbot pi0 — three blocks stack |
|
|
| pi0 fine-tuned from [`lerobot/pi0_base`](https://huggingface.co/lerobot/pi0_base) |
| on [`gdiazsrl/three_blocks_stack_sep22`](https://huggingface.co/datasets/gdiazsrl/three_blocks_stack_sep22) |
| (296 episodes, 519,684 frames, 9 block-stacking tasks). |
|
|
| ## ⚠️ Checkpoint `020000` — training still in progress |
|
|
| This is an **intermediate checkpoint at step 20,000 of 20,000**, published |
| early so it can be evaluated while the run continues. It is not the final model. |
|
|
| ## Training configuration |
|
|
| | | | |
| |---|---| |
| | base | `lerobot/pi0_base` | |
| | batch_size | 16 | |
| | steps (total) | 20,000 | |
| | dtype | bfloat16 | |
| | gradient_checkpointing | true | |
| | freeze_vision_encoder | false | |
| | train_expert_only | false | |
| | GPU | RTX PRO 6000 Blackwell (96 GB), ~39 GB used | |
|
|
| ## Contents |
|
|
| `pretrained_model/` only — `model.safetensors` plus the pre/post-processor |
| configs. The optimizer state (~14 GB) is **not** included; this checkpoint is for |
| inference and evaluation, not for resuming training. |
|
|
| ## Deployment note |
|
|
| Per Gustavo: open `config.json` in the downloaded checkpoint and **remove invalid |
| fields such as `pretrained_revision`** before loading with |
| `rosetta/policy_bridge_node.py`. |
| |
| ```bash |
| python src/rosetta/rosetta/policy_bridge_node.py --ros-args \ |
| -p contract_path:=<path>/moonbot1.yaml \ |
| -p policy_path:=<downloaded>/checkpoint-020000 |
| ``` |
| |
| The deployment contract must match the dataset: this model was trained on |
| **21-dim `observation.state`** (`joint_read` 8 + `tip_pos` 7 + `F_ee` 6). |
| |
