PI0.5 v2 initialization checkpoint

lerobot/pi052_base is the native LeRobot initialization checkpoint for the PI0.5 v2 (pi052) policy.

It contains the same pretrained tensor values as lerobot/pi05_base, converted once to PI052's native LeRobot state-dict layout and paired with a pi052 configuration and processor pipeline. It can therefore be loaded through LeRobot's standard checkpoint loader without runtime key conversion.

This checkpoint has not received additional PI052 hierarchical-language or FAST-objective training. It is the starting point for PI052 fine-tuning, not a trained hierarchical policy.

Load

from lerobot.policies.pi052.modeling_pi052 import PI052Policy

policy = PI052Policy.from_pretrained("lerobot/pi052_base")

Fine-tune

lerobot-train \
    --dataset.repo_id=${HF_USER}/my_language_annotated_dataset \
    --policy.type=pi052 \
    --policy.pretrained_path=lerobot/pi052_base \
    --policy.recipe_path=recipes/subtask_mem.yaml \
    --policy.dtype=bfloat16 \
    --policy.device=cuda

PI0.5 is derived from PaliGemma and is distributed under the Gemma license.