drwahl/pi0_so101_block_stack_sim

robotics model by drwahl

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pi0 fine-tuned to stack one 30 mm block on another with an SO-101, in simulation. Trained by train/pi0so101.yaml in vla-test on drwahl/so101blockstacksim. LoRA (r=32, alpha 64) on the gemma2b language backbone of lerobot/pi0base, with the action expert and the projection heads dense, SigLIP frozen: 20k steps at batch 4, the protocol drwahl/pi05so101blockstacksim was trained on. Normalization, learning rate and chunk length are the base checkpoint's own. adapter/ holds the adapter and the processors, which carry the normalization and the camera renaming; lerobot loads it onto the base weights. The eval rolls the policy…

drwahl/pi0_so101_block_stack_sim on Hugging Face A short preview, not the full document.

Read the full model card ↗ · Preview checked 2026-11-04T08:40:53.785Z

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pi0so101blockstacksim

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drwahl/so101blockstacksim

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Model overview

drwahl/pi0_so101_block_stack_sim is a robotics model repository published by drwahl on Hugging Face. A library was not reported.

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Model facts

Task: robotics
Library: Not reported
Recent downloads (30 days): 0
Cumulative likes: 0
Hugging Face trending score: 0
Reported safetensors parameters: Not reported
Architecture: Not reported
License: gemma
Access: Not gated by Hugging Face
Created: 2026-11-04T06:34:59.000Z
Last modified: 2026-11-04T06:37:28.000Z

Compatibility and lineage

Language coverage was not reported.

Reported base models: lerobot/pi0_base

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