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| Parameter | Value |
|---|---|
| Base model | lerobot/pi05_base (4.1B params) |
| Dataset | 110 approved episodes, 11,765 frames @ 50fps |
| Session | 158cc246-6594-410a-8d5a-db58a4101276 |
| Steps | 5,000 |
| Batch size | 32 effective (4 per GPU × 8 GPUs) |
| Hardware | 8× NVIDIA H200 (Vast.ai) |
| Training time | ~62 minutes |
| Final loss | ~0.002 |
| Optimizer | AdamW (lr=2.5e-5, weight_decay=0.01) |
| LR schedule | Cosine decay with 166-step warmup |
| Normalization | Quantile (state & action) |
| Action space | 7D absolute joint positions (6 joints + gripper) |
| Cameras | ego (overhead) + wrist |
| Review clips | Enabled (user-trimmed episode boundaries) |
| Feature | Shape | Type |
|---|---|---|
observation.images.cam_high → base_0_rgb | (3, 224, 224) | VISUAL |
observation.images.cam_wrist → left_wrist_0_rgb | (3, 224, 224) | VISUAL |
observation.state | (32,) | STATE (quantile normalized) |
| Feature | Shape | Type |
|---|---|---|
action | (7,) | ACTION (quantile normalized) |
1from lerobot.common.policies.pi05.modeling_pi05 import PI05Policy
2
3policy = PI05Policy.from_pretrained("rayhanfahmed/pi05_droyd_umi")