| library_name: lerobot | |
| tags: | |
| - robotics | |
| - pi05 | |
| - lerobot | |
| datasets: | |
| - RDLwicked/plug_and_unplug_socket_oneEP_May_6th | |
| # plug_and_unplug_socket_oneEP_May_6th_4gpu | |
| Pi0.5 policy fine-tuned with LeRobot. | |
| - **Training step:** 80000 | |
| - **Dataset:** [`RDLwicked/plug_and_unplug_socket_oneEP_May_6th`](https://huggingface.co/datasets/RDLwicked/plug_and_unplug_socket_oneEP_May_6th) | |
| - **Pretrained from:** `lerobot/pi05_base` | |
| ## Files | |
| Standard LeRobot pi0.5 checkpoint layout: | |
| | File | Purpose | | |
| |---|---| | |
| | `model.safetensors` | Policy weights | | |
| | `config.json` | Policy config | | |
| | `policy_preprocessor.*` | Input normalization stats | | |
| | `policy_postprocessor.*` | Output unnormalization stats | | |
| | `train_config.json` | Training config snapshot | | |
| ## Loading | |
| ```python | |
| from lerobot.policies.pi05.modeling_pi05 import PI05Policy | |
| policy = PI05Policy.from_pretrained("mcarroll101/plug_and_unplug_socket_oneEP_May_6th_4gpu") | |
| ``` | |
| _(Manually pushed from `/lus/lfs1aip2/projects/u6ed/milo/data/gim_arm/plug_and_unplug_socket_oneEP_May_6th_4gpu/checkpoints/080000/pretrained_model` via `scripts/misc/push_pi05_checkpoint.py`.)_ | |