limxdynamics/tron2-openpi-models

TRON 2 OpenPI Models

Deployment-oriented Pi0.5 checkpoints for LimX TRON 2 manipulation, fine-tuned with OpenPI and integrated with TRON 2 policy modules. They work with the Pi0 / Pi0.5 policy-serving pipeline and the real-robot clients in tron2_openpi.

• Robot: LimX TRON 2 (modular arms, grippers or BrainCo hands, head, chassis, lifter)
• Code: tron2_openpi for fine-tuning and deployment, used together with tron2_env, the runtime stack for real-robot deployment
• Robot models (URDF / MJCF / USD): tron2-robot-description

Demos

Candy handover	Cloth folding

Higher-quality MP4 versions: candy_handover.mp4 · cloth_fold.mp4

Available checkpoints

Task	Checkpoint folder	Norm stats repo_id
Candy	pi05_tron2_candy/candy_h30_rtc_25000	input
Cloth	pi05_tron2_cloth/cloth_h30_rtc_74999	input
Sort	pi05_tron2_sort/sort_h50_rtc_30000	input
Organize the Desktop	pi05_tron2_desktop/desktop_h30_rtc_20000	input
Bean Pouring	pi05_tron2_beans/beans_h30_rtc_15000	input
Clean the Floor (chassis)	pi05_tron2_chassis/chassis_h30_rtc_15000/14999	chassis270

pi05_tron2_banana is an additional checkpoint set without a public deploy profile.

Quick start

1. Set up tron2_openpi and tron2_env side by side, following the installation guide.
2. Download the checkpoint for your task, for example Candy:

hf download limxdynamics/tron2-openpi-models --include "pi05_tron2_candy/*" --local-dir ./checkpoints

3. In the server profile, set policy.checkpoint_dir to the downloaded step folder and policy.repo_id to the norm stats folder in the table above.
4. Start the policy server and the robot client:

uv run scripts/serve_policy.py --profile configs/deploy/candy_server.yaml
uv run examples/tron2/pi_client_rtc.py --profile configs/deploy/candy_client.yaml

To fine-tune on your own task, see the training section of the tron2_openpi README.

Safety

These checkpoints drive a physical robot. Start from the robot's initial state, keep the workspace in front of the robot clear (both arms will move), and run only with a trained operator present and the emergency stop within reach.

License

The tron2_openpi code is released under Apache 2.0. The checkpoints build on OpenPI models derived from PaliGemma, so use of the model weights is also subject to the Gemma terms; see the license files in tron2_openpi.

Contact

• Business inquiries and collaboration: opensource@limxdynamics.com
• Questions about these checkpoints: open a discussion in the Community tab or an issue on tron2_openpi
• More from LimX Dynamics: Hugging Face · GitHub · Website