A π0 policy (openpi, JAX) fine-tuned with LoRA (gemma2blora + gemma300mlora) from the openpi pi0base checkpoint, on the RoboSynChallenge/cobotmagicSimitemshandover dataset (LeRobot v2.1). 3e28642c63555fcfc64412b2cd83d6358bb54330a3c5713b5d6774b49d6fca43 (18 files); normalization statistics cae91c7b9df3ff7a87f8caa67967e7ec609e70b8952dcff44a561098036c5135; training save record RESEARCHSAVE label=23999 step=24000 optstate=1966a406d1976f52. 2.5e-6; AdamW, batch 32, seed 42; action offset +1; prompt = the dataset's task text), then continued from step 16000 to 24000 with --resume on the same data, the same schedule (learning rate about 1.314e-5 at step 16000 and about 4.79e-6 at step 24000), the…
Independent publisher
Shao Ningyu
kolmann1231
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Models on Hugging Face6
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