Select the waste from the floor and put it into the waste bin by EVT robot.
Select the waste from the floor and put it into the waste bin by DVT robot and H gripper.
Select the waste from the floor and put it into the waste bin by DVT robot and G gripper.
This policy directly commands real robot arms and a mobile base. Reduce speed and range of motion on first run, keep an emergency stop within reach, and do not use it in safety-critical settings.
License
This model is a Gemma Model Derivative: it was fine-tuned from the openpi
$\pi_{0.5}$ base checkpoint, whose vision-language backbone is PaliGemma and
therefore contains Gemma weights.
Gemma is provided under and subject to the Gemma Terms of Use found at
ai.google.dev/gemma/terms. A copy of the
agreement is included in this repository as LICENSE_GEMMA.txt, and the
required notice is in NOTICE.
Use of these weights is subject to the following restrictions, which are
incorporated here as enforceable terms and which you must pass on to anyone you
redistribute the weights or their functionality to. You must not use them:
Note that under the Gemma Terms of Use, "Distribution" includes making the
model's functionality available as a hosted service via API or other remote
means, not only shipping the weight files.
The inference code in the linked repository is licensed separately under
Apache 2.0; this license section applies to the weights in this repository.
