Publish verified 5demo Pi0.5 checkpoint

README.md

@@ -0,0 +1,21 @@
+---
+library_name: lerobot
+tags:
+- robotics
+- lerobot
+- bimanual
+---
+
+# pi05-BimanualYAM-freshbase-umi-plus-teleop-5demo-ee20
+
+Fresh-base Pi0.5 trained for 12,000 optimizer steps on all canonical UMI data plus exactly five complete teleop demonstrations.
+
+- base: `lerobot/pi05_base@b211f3d44c36b6acfcf7ae94a64e8e96f75a64ba`
+- UMI dataset: `brandonyang/dual-lidar-umi-independent@a95b079b2b3dc73a912ecd12967f22f825d04fa8`
+- action: H24 EE20 current-relative SE(3), R6D rows, absolute future gripper
+- task: `pick up oranges and place them in the bowl`
+- rotation contraction: none
+- state history: none
+- variant: `5demo`
+
+The bundled evaluation is a matched training-set observation replay, not a held-out or hardware-success claim. Hardware use requires the standard EE-to-IK safety path and operator supervision. Pin the immutable Hub revision rather than `main`.

SHA256SUMS

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+8731677e7ef124fbd557bb3c18a7d2862ca31eccf07be27b48fd5e08854a1501  artifact_provenance.json
+41d209c861f51bd058e19ce44b714536d9df013a9e2d968ceceb02a38c02c81c  config.json
+04d56b9ab321b1e8b5b6768ff9697f285339b2f85160936e1c94ef4baa60c17b  model.safetensors
+6ea945ac8879f4ed8260f5f008e8decb0f77b1573a44a77646110ece38f7803b  policy_postprocessor.json
+e26a4e8080856a970b544e19ebad62a8a7de8ee52f29ae7d6646b01cd475e284  policy_postprocessor_step_0_unnormalizer_processor.safetensors
+59e7501e40efa8d7c90a130826d4b6788f7c885772079a39da9899102ad60ab1  policy_preprocessor.json
+e26a4e8080856a970b544e19ebad62a8a7de8ee52f29ae7d6646b01cd475e284  policy_preprocessor_step_3_normalizer_processor.safetensors

artifact_provenance.json

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+{
+  "base_revision": "b211f3d44c36b6acfcf7ae94a64e8e96f75a64ba",
+  "checkpoint_validation_sha256": "3b255d56d1e544692552d6a6e7fff6221e9eaaa94459eef7dc4b7843462b6d18",
+  "repo_id": "ASethi04/pi05-BimanualYAM-freshbase-umi-plus-teleop-5demo-ee20",
+  "schema": "pi05_posttrain_portable_artifact.v1",
+  "source_checkpoint": "pi05-teleop-demo-count/pi05-base-to-umi-all-plus-teleop-5demo-ee20-12k-seed1000-r1/checkpoints/012000",
+  "umi_replay_summary_sha256": "f4b3c40531069abadcd3234dc81e95e3172ef92dc0f41a331aba708c278328db",
+  "umi_revision": "a95b079b2b3dc73a912ecd12967f22f825d04fa8",
+  "variant": "5demo"
+}

config.json

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+{
+  "action_expert_variant": "gemma_300m",
+  "action_feature_names": [
+    "left_x",
+    "left_y",
+    "left_z",
+    "left_r0x",
+    "left_r0y",
+    "left_r0z",
+    "left_r1x",
+    "left_r1y",
+    "left_r1z",
+    "left_gripper",
+    "right_x",
+    "right_y",
+    "right_z",
+    "right_r0x",
+    "right_r0y",
+    "right_r0z",
+    "right_r1x",
+    "right_r1y",
+    "right_r1z",
+    "right_gripper"
+  ],
+  "chunk_size": 24,
+  "compile_mode": "max-autotune",
+  "compile_model": false,
+  "device": "cuda",
+  "dtype": "float32",
+  "empty_cameras": 0,
+  "freeze_vision_encoder": false,
+  "gradient_checkpointing": true,
+  "image_resolution": [
+    224,
+    224
+  ],
+  "input_features": {
+    "observation.images.base_0_rgb": {
+      "shape": [
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+      "type": "VISUAL"
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+      "type": "VISUAL"
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+    "observation.state": {
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+      ],
+      "type": "STATE"
+    }
+  },
+  "license": null,
+  "max_action_dim": 32,
+  "max_period": 4.0,
+  "max_state_dim": 32,
+  "min_period": 0.004,
+  "n_action_steps": 24,
+  "n_obs_steps": 1,
+  "normalization_mapping": {
+    "ACTION": "QUANTILES",
+    "STATE": "QUANTILES",
+    "VISUAL": "IDENTITY"
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+  "num_inference_steps": 10,
+  "optimizer_betas": [
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+    0.95
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+  "optimizer_eps": 1e-08,
+  "optimizer_grad_clip_norm": 1.0,
+  "optimizer_lr": 2.5e-05,
+  "optimizer_weight_decay": 0.01,
+  "output_features": {
+    "action": {
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+      "type": "ACTION"
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+  "paligemma_variant": "gemma_2b",
+  "pretrained_path": null,
+  "pretrained_revision": null,
+  "private": null,
+  "push_to_hub": false,
+  "relative_exclude_joints": [
+    "gripper"
+  ],
+  "repo_id": "ASethi04/pi05-BimanualYAM-freshbase-umi-plus-teleop-5demo-ee20",
+  "rtc_config": null,
+  "scheduler_decay_lr": 2.5e-06,
+  "scheduler_decay_steps": 12000,
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+  "tags": null,
+  "time_sampling_beta_alpha": 1.5,
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+  "tokenizer_name": "google/paligemma-3b-pt-224",
+  "tokenizer_revision": "35e4f46485b4d07967e7e9935bc3786aad50687c",
+  "train_expert_only": false,
+  "type": "pi05",
+  "use_amp": false,
+  "use_peft": false,
+  "use_relative_actions": false
+}

model.safetensors

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policy_postprocessor.json

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policy_postprocessor_step_0_unnormalizer_processor.safetensors

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policy_preprocessor.json

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+  "name": "policy_preprocessor",
+  "steps": [
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+      "config": {
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+          "observation.images.right": "observation.images.right_wrist_0_rgb"
+        }
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "relative_actions_processor",
+      "config": {
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+        "exclude_joints": [
+          "gripper"
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policy_preprocessor_step_3_normalizer_processor.safetensors

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