Model Card for pi05_cascade

This is a pi05_cascade policy trained with LeRobot.

This policy has been trained and pushed to the Hub using LeRobot.

See the full LeRobot documentation.

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Model Details

• License: apache-2.0
• Robot type: bi_widowxai_follower_robot
• Cameras: cam_low, cam_high, cam_left_wrist, cam_right_wrist

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
observation.state	STATE	(29,)
observation.images.cam_low	VISUAL	(3, 480, 640)
observation.images.cam_high	VISUAL	(3, 480, 640)
observation.images.cam_left_wrist	VISUAL	(3, 480, 640)
observation.images.cam_right_wrist	VISUAL	(3, 480, 640)

Outputs

Feature	Type	Shape
action	ACTION	(20,)

Training Dataset

• Repository: 0831_cardboard_box_eepose
• Episodes: 201
• Frames: 140286
• Frame rate: 30 FPS
• Task(s): "Open the flaps of the cardboard box, reach inside, grasp the inner box, and lift it out"

Training Configuration

Setting	Value
Training steps	20
Batch size	2
Optimizer	adamw
Learning rate	0.0001
Seed	1000
LeRobot version	0.6.2

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How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

• Install LeRobot — set up the lerobot package.
• Hardware setup — assemble, wire, and calibrate your robot and cameras.
• Record data & train a policy — the end-to-end imitation-learning walkthrough.
• CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

lerobot-rollout \
  --strategy.type=base \
  --robot.type=bi_widowxai_follower_robot \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=pi05_cascade \
  --task="Open the flaps of the cardboard box, reach inside, grasp the inner box, and lift it out" \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.type=pi05_cascade \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

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Evaluation

No evaluation results have been provided for this policy yet.

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Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}