Shiki42/a2r-e8-insert-key-pi05-lora

a2r E-8 insert_key π0.5 LoRA (E8-R001)

LeRobot 0.6.1 pi05 with a peft LoRA adapter (r=32, alpha=32) on lerobot/pi05_base, fine-tuned for one contact Skill, key_insert_turn (insert a held key into a lock and turn it), on a simulated dual ARX-X5 (RoboDojo, 25 Hz).

• Data: 200 admitted single-arm expert demonstrations (180 train / 20 validation by layout), dataset Shiki42/a2r-e8-insert-key@6ce7242012a181088bb6d2862fcfca2ca8b89c5f (private).
• Training: 10,000 steps, batch 16, seed 20261018, bf16, gradient checkpointing; final train loss 0.100, fixed-noise validation loss 0.091.
• Observation: observation.images.top (front) and the active arm's wrist camera, state = active-arm link6 pose in its base (xyz + quaternion xyzw) and two finger widths, the Skill instruction.
• Action (7): body-frame EE delta relative to the measured link6 at the executed frame (xyz m, rotation vector rad) and absolute gripper open fraction. Not certified for hardware.
• pretrained_model/ loads with LeRobot 0.6.1 (use_peft, camera rename_map in train_config.json).

Simulation-only research artifact from the a2r project (Experiment E-8).