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Feature: Support LeRobot Pi 0.5 policies with native Model Connect bundles

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@chaofengw-nv がすでに取り組んでいます。

2026年10月29日 から。

評価

難易度
5/5
見積もり時間
1週間以上
初心者へのやさしさ
35/100
issue の種類
機能追加
明瞭さ
明確に書かれている
活発さ
活発
技術スタック
huggingface, python, pytorch
領域
backend, machine-learning

調査の方向性

Start by reviewing the prior Pi 0.5 implementation findings in closed PR #534 and the repository’s current model-family, builder, native Task, and E2E test patterns. Pin and verify access to the stated LeRobot checkpoint revision before beginning the model proof; compare the complete action chunk against the LeRobot reference with matched inputs and starting noise. Done means the checkpoint builds into a native bundle, the declared LeRobot contract works, numerical checks pass, and the qualified runtime details and limits are documented.

索引モデルが issue の本文から書いたものです。

説明

AI enhancement model-onboarding

This issue was drafted by AI at a user's request.

Request type

New model or checkpoint support

Problem and use case

A LeRobot user should be able to point lerobot-export at a Pi policy produced by lerobot-train, select TensorRT-Model-Connect as the compiler/runtime backend, and receive a native bundle that LeRobot can load for action inference. Model Connect currently has a qualified LeRobot ACT family, but no Pi family. Its existing image-and-state action Task cannot represent Pi's named cameras and language task.

Proposed outcome

Add family-owned support for LeRobot's standard Pi 0.5 (pi05) flow-matching policy. The builder should consume a supported LeRobot checkpoint directory, including its config, weights, saved processors, tokenizer, and normalization state, without a manual conversion step. The native runtime should accept the supported observation and task contract and return complete actions in robot units. Expose a versioned, model-agnostic Task interface where the current one-image contract is insufficient, so LeRobot can call the bundle through its export/rollout integration.

The first slice is Pi 0.5 without visual or proprioceptive memory. Pi 0, Pi 0-FAST, Pi 0.7, and optional memory or real-time chunking modes require separate qualification before being claimed as supported.

Acceptance criteria
  • Pin an accessible public LeRobot Pi 0.5 checkpoint and exact revision for the first proof; verify CI can fetch every required asset before the model proof starts.
  • trtmc build or the public builder API produces a bundle from the LeRobot checkpoint and from a compatible lerobot-train output, without checkpoint-name-only behavior or manual weight rewriting.
  • A native Model Connect Task accepts the declared camera, state, and task inputs and returns the full unnormalized action chunk; unsupported shapes, missing required inputs, and configurations fail clearly.
  • Family-owned E2E tests compare all action values against the pinned LeRobot pi05 reference on representative recorded observations with matched starting noise and processing, using meaningful numerical criteria.
  • Validate one documented precision and NVIDIA GPU/TensorRT stack, and report build, startup, memory, and action-chunk latency. Native inference has no Python or PyTorch dependency.
  • Document the supported checkpoint/configuration boundary and the bundle/runtime contract needed by lerobot-export and lerobot-rollout.
Model and target details
  • Initial public checkpoint: lerobot/pi05_libero_base, revision 5fcf06fc42b6717e22ab885fd381a096574b12c7 (public model metadata and checkpoint files were available when this issue was filed).
  • LeRobot policy type: pi05; initial task: vision/language/state to robot action chunk, batch size one.
  • Initial precision candidate: BF16; pin the exact qualified precision, GPU, CUDA, and TensorRT versions in the implementation evidence. Jetson deployment requires its own target qualification.
  • Expected path: LeRobot-trained checkpoint -> Model Connect builder -> .bundle -> native Task API -> LeRobot export/rollout adapter.
Alternatives considered

Shoumikhin's LeRobot export prototype offers ONNX-TensorRT, ExecuTorch-TensorRT, and Torch-TensorRT paths. Those provide useful reference behavior but do not build or execute Model Connect bundles.

Additional context

Yifei's closed OpenPI Pi 0.5 PR #534 implemented and locally validated a native DROID policy path. It did not merge: its required prepared checkpoint was unavailable to CI, and the isolated model proof failed at asset readiness. Reuse its family-owned implementation findings where applicable, while proving the new LeRobot checkpoint contract with accessible immutable assets and current repository architecture. Do not weaken validation to bypass asset or numerical failures.

Submission checks
  • I searched open and closed issues and found no duplicate request.
  • I removed secrets, private/internal evidence, personal paths, and restricted artifacts.
主要言語
Python
スター
283
フォーク
75
平均マージ
1日 23時間
マージ済み PR（30日）
227

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