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full_20260529_0220, 45-task eval_v1_100 set). Inference-only
(lerobot pretrained_model/ layout: weights + config + pre/post-processors).| Base model | lerobot/pi0_base |
| Dataset | zhouqh/hrbench → genesis_hr_bench_lerobot_qpos_target_abs_20260526_1651 |
| Action space | qpos_abs (8-D Franka joint absolute + gripper) |
| Step | 100,000 |
| Wandb | pi0_genesis_hr_bench/irbbsucj |
| Uploaded | 2026-08-05 07:00:01 UTC |
Note. Round-3 run on qpos_target_abs_20260526_1651. Camera-rename maps the dataset's 2 cameras onto 2 of pi0_base's 3 slots; the 3rd is zero-masked.
1from lerobot.policies.factory import make_policy_from_pretrained
2
3policy = make_policy_from_pretrained("zimplex/pi0-base-qpos-target-abs-20260526-1651-step100000", device="cuda")
4policy.eval()
5# Observation keys: observation.images.base_0_rgb / left_wrist_0_rgb /
6# right_wrist_0_rgb (as available), observation.state. Action space: qpos_abs.
7action_chunk = policy.predict_action(batch_observation)Pair the checkpoint with the matchingqpos_absdataset variant — the normalizers andaction_dimare baked in.