Setting	Value
Training step	100000
Cameras	top, left, right
Action dim	14 (absolute joints + grippers)
Chunk size	30 (@ 30 Hz)
VLM	unfrozen (`freeze_vision_encoder=false`, `train_expert_only=false`)
Base model	lerobot/pi05_base
Gripper range	[0, 1] (continuous)

Usage (LeRobot)

python

from lerobot.policies.pi05.modeling_pi05 import PI05Policy
from lerobot.policies.factory import make_pre_post_processors

ckpt = "Jiafei1224/molmoact2-yam-pi05"
policy = PI05Policy.from_pretrained(ckpt)
preprocessor, postprocessor = make_pre_post_processors(policy.config, pretrained_path=ckpt)

Open-loop smoke (2 held-out episodes, stride 30, reset-each-step)

MSE: 0.00140
MAE: 0.0211