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zetanschy/
pi0_cap_to_cup_199

Name: pi0_cap_to_cup_199
Availability: InStock

zetanschy/raw_cap_to_cup_199

lerobot/pi0_base

finetune

apache-2.0

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Model Card for pi0

π₀ (Pi0) is a general-purpose robot foundation model from Physical Intelligence: a generalist Vision-Language-Action policy that understands visual inputs, interprets natural language instructions, and controls a variety of different robots across diverse tasks. The LeRobot implementation is adapted from their open-source OpenPI repository.

This policy has been trained and pushed to the Hub using LeRobot.

Learn how to train and run it in the LeRobot pi0 guide, or browse the full documentation.

Model Details

License: apache-2.0
Fine-tuned from: lerobot/pi0_base
Robot type: so_follower
Cameras: front, grip

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
`observation.images.base_0_rgb`	VISUAL	`(3, 224, 224)`
`observation.images.left_wrist_0_rgb`	VISUAL	`(3, 224, 224)`
`observation.images.right_wrist_0_rgb`	VISUAL	`(3, 224, 224)`
`observation.state`	STATE	`(32,)`

Outputs

Feature	Type	Shape
`action`	ACTION	`(6,)`

Training Dataset

Repository: zetanschy/raw_cap_to_cup_199
Episodes: 199
Frames: 78762
Frame rate: 30 FPS
Task(s): "Put the cap into the red cup"

Training Configuration

Setting	Value
Training steps	30000
Batch size	16
Optimizer	adamw
Learning rate	2.5e-05
Seed	1000
LeRobot version	0.6.1

How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

Install LeRobot — set up the lerobot package.
Hardware setup — assemble, wire, and calibrate your robot and cameras.
Record data & train a policy — the end-to-end imitation-learning walkthrough.
CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

bash

lerobot-rollout \
  --strategy.type=base \
  --robot.type=so_follower \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=zetanschy/pi0_cap_to_cup_199 \
  --task="Put the cap into the red cup" \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

This policy type is usually fine-tuned from the pretrained base model lerobot/pi0_base:

bash

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.path=lerobot/pi0_base \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

Evaluation

No evaluation results have been provided for this policy yet.

Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

bibtex

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}