| --- |
| language: |
| - en |
| license: mit |
| tags: |
| - pi05 |
| - pi0.5 |
| - LeRobot |
| - robotics |
| - imitation-learning |
| - behavior-cloning |
| - so101 |
| pipeline_tag: reinforcement-learning |
| library_name: lerobot |
| base_model: |
| - lerobot/pi05_base |
| --- |
| |
| # LeRobot SO101 Pi05 task2task3-all_bs32_s20000 |
|
|
| ## Summary |
|
|
| This repository contains the final checkpoint for a Pi0.5 (pi05) policy fine-tune trained on `aswinkumar99/task2task3-all` for SO101 sponge pick-and-place experiments. |
|
|
| Dataset meaning: Task 2 + Task 3 combined (all layouts). |
|
|
| This pi05 policy is a fine-tune of `lerobot/pi05_base`, as recorded by both the launch command (`--policy.path=lerobot/pi05_base`) and the saved training config (`pretrained_path: lerobot/pi05_base`). |
|
|
| ## Training Setup |
|
|
| - Dataset repo: `aswinkumar99/task2task3-all` |
| - Local dataset root during training: `/root/datasets_combined/aswinkumar99/task2task3-all` |
| - Output directory during training: `/root/outputs_matrix/pi05/task2task3-all_bs32_s20000` |
| - Batch size: `32` |
| - Training steps: `20000` |
| - Checkpoint save frequency: `5000` |
| - Data loader workers: `8` |
| - WandB project: `so101-layout-generalization` |
| - GPU: `NVIDIA H200` |
| - Python: `CPython 3.10.12` |
| - CUDA: `13.1` |
| - Training start: `2026-04-24T13:03:21.511729` |
| - Training end: `2026-04-24T17:37:44.320524` |
| - Approximate training duration: `4h 34m 22s` |
|
|
| - Base model: `lerobot/pi05_base` |
| - Observation camera rename map: `{"observation.images.overhead": "observation.images.base_0_rgb", "observation.images.wrist": "observation.images.right_wrist_0_rgb"}` |
| - Action chunk size: `50` |
| - Action steps predicted: `50` |
|
|
| ## Exact Training Command |
|
|
| ```bash |
| lerobot-train \ |
| --dataset.repo_id=aswinkumar99/task2task3-all \ |
| --dataset.root=/root/datasets_combined/aswinkumar99/task2task3-all \ |
| --dataset.video_backend=torchcodec \ |
| --output_dir=/root/outputs_matrix/pi05/task2task3-all_bs32_s20000 \ |
| --job_name=pi05_task2task3-all_bs32 \ |
| --batch_size=32 \ |
| --steps=20000 \ |
| --log_freq=200 \ |
| --save_freq=5000 \ |
| --save_checkpoint=true \ |
| --num_workers=8 \ |
| --wandb.enable=true \ |
| --wandb.project=so101-layout-generalization \ |
| --wandb.mode=online \ |
| --wandb.disable_artifact=true \ |
| --policy.path=lerobot/pi05_base \ |
| --policy.device=cuda \ |
| --policy.push_to_hub=false \ |
| --rename_map={"observation.images.overhead": "observation.images.base_0_rgb", "observation.images.wrist": "observation.images.right_wrist_0_rgb"} |
| ``` |
|
|
| ## Repository Contents |
|
|
| - `pretrained_model/`: final downloadable model artifacts for inference/loading |
| - `training_state/`: optimizer, RNG, scheduler/state, and step information for resuming or auditability |
|
|
| ## Notes |
|
|
| - This repo stores the final checkpoint (step `20000`) that was uploaded from the cloud training workspace. |
| - Intermediate checkpoints (every `5000` steps) are archived to Google Drive as tarballs and are not pushed to the Hub. |
| - The checkpoint was trained with LeRobot tooling via `lerobot-train`. |
| - For SO101 experiments in this workspace, the dataset source was created by Aswinkumar. |
|
|
| ## Creator |
|
|
| Aswinkumar |
|
|
| - Website: [aswinkumar.me](https://aswinkumar.me) |
| - Hugging Face repo: <https://huggingface.co/aswinkumar99/LeRobot-SO101-Pi05-task2task3-all_bs32_s20000> |
|
|
