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anvil-robotics/
pi05-openarm-pick-and-place-ikea-red-block

Name: pi05-openarm-pick-and-place-ikea-red-block
Availability: InStock

anvil-robotics/openarm-pick-and-place-ikea-red-block

apache-2.0

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pi05-openarm-pick-and-place-ikea-red-block

π0.5 policy trained on the pick-and-place IKEA red block task (single right arm). 30k steps, chunk size 50, PaliGemma 2B vision-language backbone, absolute joint-space actions.

Trained on openarm-pick-and-place-ikea-red-block.

Summary

Field	Value
Policy	`pi05`
Robot	`openarm`
Task	`pick-and-place`
State / Action dims	8 / 8
Extra state inputs	—
Cameras	chest, waist, wrist_r (3)
Base model	lerobot/pi05_base

Architecture

Field	Value
n_obs_steps	1
Chunk size	50
n_action_steps	50
Vision backbone	paligemma (gemma_2b) + gemma_300m
Action normalization	MEAN_STD
Action feature names	`right_finger_joint1` … `right_joint7` (8 total)

Training

Field	Value
Source dataset	openarm-pick-and-place-ikea-red-block
Total episodes	250
Episodes used (train)	200
Splits	200 / 25 / 25 (train / val / test)
Training steps	50,000
Batch size	16
Optimizer	adamw, lr=3e-05
Image augmentation	no
W&B	`placing-one-block-r4-fisheye` / `21ysh10k`

Dataset

Field	Value
Source dataset	openarm-pick-and-place-ikea-red-block
Total episodes	250
Train / val / test	200 / 25 / 25 (train / val / test)
Trained with	anvil-embodied-ai

Task

Pick up the block and place it on the target location

License

apache-2.0

anvil-robotics/pi05-openarm-pick-and-place-ikea-red-block