| license: apache-2.0 | |
| base_model: lerobot/pi05_base | |
| pipeline_tag: robotics | |
| tags: | |
| - LeRobot | |
| - so101 | |
| - pi0.5 | |
| - lora | |
| # pi05_so101_block_stack | |
| pi0.5 fine-tuned to stack one 30 mm block on another with an [SO-101](https://github.com/TheRobotStudio/SO-ARM100), in simulation and on the physical arm. Trained by `train/pi05_so101_mix.yaml` in [vla-test](https://github.com/danwahl/vla-test) on [drwahl/so101_block_stack](https://huggingface.co/drwahl/so101_block_stack), with each frame jittered for brightness, contrast, saturation and hue over ranges the size of what separates a rendered frame from one off the arm. | |
| LoRA on `lerobot/pi05_base`'s gemma_2b language backbone, with the action expert and the projection heads dense and SigLIP frozen. `adapter/` holds the adapter and the normalization processors; `train/merge.py` folds it into the base weights for a checkpoint that loads without one. | |
| ```bash | |
| hf download drwahl/pi05_so101_block_stack --local-dir pi05_so101_block_stack | |
| uv run python train/merge.py pi05_so101_block_stack/adapter pi05_so101_block_stack/merged | |
| # in simulation | |
| uv run python sim/scripts/eval.py pi05_so101_block_stack/merged | |
| # on the arm | |
| uv run python -m hw.rollout pi05_so101_block_stack/merged --indices 0 1 2 | |
| ``` | |
| Chunks are stitched with [Real-Time Chunking](https://www.physicalintelligence.company/research/real_time_chunking) and read back off a shape-preserving cubic before they are executed, in both programs. | |
| It stacks 139 of the 150 held-out sim layouts, averaged over three seeds. On the arm the blocks are placed against a console that blends the planned layout with the live camera, and whether an episode stacked is the operator's call, so there is no hardware number here. | |
| The prompt names two of red, green and blue: `stack the red block on the green block`. | |