SteveNguyen/grabette_pick3_pi0fast

Model Card for pi0_fast

π₀-FAST (Pi0-FAST) is a Vision-Language-Action model for general robot control, from Physical Intelligence. It models continuous robot actions with autoregressive next-token prediction using FAST (Frequency-space Action Sequence Tokenization), training up to 5x faster than diffusion-based π₀.

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

Learn how to train and run it in the LeRobot pi0_fast guide, or browse the full documentation.

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Model Details

• License: apache-2.0
• Fine-tuned from: lerobot/pi0fast-base
• Robot type: grabette
• Cameras: cam0

Inputs & Outputs

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

Inputs

Feature	Type	Shape
observation.images.cam0	VISUAL	(3, 360, 480)
observation.state	STATE	(2,)
observation.images.empty_camera_0	VISUAL	(3, 224, 224)
observation.images.empty_camera_1	VISUAL	(3, 224, 224)

Outputs

Feature	Type	Shape
action	ACTION	(11,)

Training Dataset

• Repository: SteveNguyen/grabette_pick3_cartesian_480
• Episodes: 554
• Frames: 91123
• Frame rate: 50 FPS
• Task(s): "pick up the red can", "pick up the mustard bottle", "pick up the cup"

Training Configuration

Setting	Value
Training steps	20000
Batch size	32
Optimizer	adamw
Learning rate	2.5e-05
Seed	1000
LeRobot version	0.6.1

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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=grabette \
  --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=SteveNguyen/grabette_pick3_pi0fast \
  --task="pick up the red can" \
  --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

This policy type is usually fine-tuned from the pretrained base model lerobot/pi0fast-base:

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.path=lerobot/pi0fast-base \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${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}
}