Modelpublic

AutoRLBench/pi05_rlt_busybox_multitask_singlearm_minmax

sourceHugging Faceupdated 6d agoView on Hugging Face

0likes

Model Card

pi05rltbusyboxmultitasksinglearm_minmax

RL-token encoder/decoder (RLT Stage 1) on the frozen prompt-fix π0.5 minmax multitask checkpoint. This is what hw_control.pi0_rlt loads to extract tokens.

Same relative 6D recipe as the VLA (pravsels/pi05_busybox_multitask_minmax): 5 joints delta, gripper absolute, per-timestep min/max in q01/q99. Prompts are remapped per frame (prompt_from_task, RCW git main #597aa9ad).


Policy	π0.5 + RLT (`Pi0RLConfig`, `pi05=true`)
Frozen VLA	`pravsels/pi05_busybox_multitask_minmax` (W&B `swjv9hbs`)
Dataset	villekuosmanen/busybox_multitask (66 episodes, 27 tasks)
Prompt	`prompt_from_task` (27 remapped instructions; no single default)
Action dim	6 (single-arm; 5 joints delta, gripper absolute)
Cameras	`top` → `base_0_rgb`, `wrist` → `left_wrist_0_rgb`, `front` → `base_1_rgb`
Training	GCloud 1× A100 80GB, VLA frozen (`rl_vla_loss_weight=0.0`), 20k steps, global batch 16, action horizon 30
Norm	per-timestep min/max in `q01`/`q99` (Hub assets copied, not recomputed)
W&B project	busybox_multitask_rlt_singlearm_minmax
W&B run	93keszgb

Checkpoints

main is the finalized 20k checkpoint (params/ + assets/ at the repo root). train_state/ is not published.

Field	Value
Latest published	`main` (`params/`, step 19999)
Config	`pi05_rlt_busybox_multitask_singlearm_minmax`
Code	`90490b9` on `task/rlt_busybox_multitask`
Runtime	4h 13m (2026-09-03 12:16 UTC → 16:28 UTC)
Train loss	10755.68 (step 0) → 293.81 (step 19900)

Usage

python

from huggingface_hub import snapshot_download
from openpi.policies import policy_config
from openpi.training.config import get_config

ckpt = snapshot_download("pravsels/pi05_rlt_busybox_multitask_singlearm_minmax")
policy = policy_config.create_trained_policy(
    get_config("pi05_rlt_busybox_multitask_singlearm_minmax"),
    ckpt,
)

bash

uv run scripts/serve_policy.py \
  --policy.config=pi05_rlt_busybox_multitask_singlearm_minmax \
  --policy.dir=/path/to/pravsels/pi05_rlt_busybox_multitask_singlearm_minmax