LeHome cloth-folding policy
This repo contains a LeRobot-format pretrained policy trained for the LeHome dual-arm cloth-folding challenge.
It is intended to be loaded as a pretrained_model folder by LeRobot or wrapped inside a custom LeHome policy.
What this repo contains
This model repo contains the standard LeRobot policy artifacts:
config.jsonmodel.safetensorspolicy_preprocessor.jsonpolicy_preprocessor_step_*policy_postprocessor.jsonpolicy_postprocessor_step_*train_config.json
These files are enough to represent the policy artifact itself.
They are not a full portable runtime by themselves. For this policy family, the Python environment matters.
Important: this model depends on a specific π0 / OpenPI-compatible runtime
This policy uses the π0 / π0.5 family as implemented in LeRobot, which is adapted from OpenPI. The LeRobot π0 docs explicitly state that the implementation is adapted from the open-source OpenPI repository. :contentReference[oaicite:0]{index=0}
In practice, that means a plain stock LeRobot install is not always enough.
Official upstream requirement
For the OpenPI PyTorch setup, the OpenPI README specifies:
- install
transformers==4.53.2
- then copy the patched files from
src/openpi/models_pytorch/transformers_replace/* into the installed transformers/ package
OpenPI documents those replacements as required model patches for the PyTorch stack. :contentReference[oaicite:1]{index=1}
Why this matters
LeRobot π0/π0.5 checks for an OpenPI-compatible Transformers installation rather than relying only on a generic PyPI version. This is why simply installing a random Transformers version can fail for π0/π0.5 even if LeRobot itself installs cleanly. :contentReference[oaicite:2]{index=2}
Exact environment requirements used for this policy
This model was trained in a LeHome + LeRobot + π0-compatible environment.
Base stack
- Python 3.11
- LeHome challenge environment
- LeRobot
- Hugging Face Hub login
- access to the gated upstream PaliGemma repository when required by the runtime
LeRobot π0/π0.5 is documented as a VLA policy in LeRobot. :contentReference[oaicite:3]{index=3}
Exact patches required
There are two categories of patches:
1. Official upstream patch requirement
This is the one that comes from OpenPI itself.
After installing transformers==4.53.2, copy the OpenPI replacement files into the installed transformers package:
1# after installing the environment and OpenPI source tree
2pip install "transformers==4.53.2"
3
4cp -r ./src/openpi/models_pytorch/transformers_replace/* \
5 <your_python_env>/site-packages/transformers/
