PI0.5 Pick Orange (LeIsaac Sim2Sim)
This repository contains the complete public LeRobot inference checkpoint for a PI0.5 policy fine-tuned on Aikwed/pick_orange_joint_limited.
The policy predicts six SO-101 joint-position actions from the robot state, a wrist RGB camera, a front RGB camera, and the task instruction. It was trained and evaluated for the Pick Orange task in LeIsaac using a simulation-to-simulation (sim2sim) workflow.
Scope and limitations
- Robot: SO-101 Follower
- Simulator: LeIsaac / Isaac Sim
- Task: Pick Orange
- Evaluation setting: sim2sim
- Real-robot deployment has not been validated.
The public model.safetensors file contains the model weights. The processor JSON and safetensors files are required for inference with the matching LeRobot version.