antonitsin/pi05_cube_grasp

π₀.₅ fine-tuned for "Put the cube in the glass" (SO-101)

Fine-tuned from lerobot/pi05_base (revision a538eb2732) on antonitsin/cube-grasp-visual (52 episodes, SO-101 arm, overhead + wrist cameras). Full fine-tune, 6,000 steps, batch size 16, bfloat16.

Compatibility

Trained and validated with lerobot 0.4.2 with the π₀.₅ transformers patches (pip install "lerobot[pi]==0.4.2"). It does not produce correct actions in lerobot 0.6.x.

Inputs

• observation.images.base_0_rgb: overhead camera (rename from observation.images.overhead)
• observation.images.left_wrist_0_rgb: wrist camera (rename from observation.images.wrist)
• observation.state: 6 joint positions
• Task: Put the cube in the glass

License

Gemma is provided under and subject to the Gemma Terms of Use found at ai.google.dev/gemma/terms.