pi05 LoRA finetune — Fruit Swap
LoRA-finetuned lerobot/pi05_base on the FruitSwapEasy task.
Run: 19.55.32_train_pi05_fruit_swap_lora_70_20_10_fruit_swap_pi05 (split 70/20/10).
Checkpoint groups
Top 5 (mixed sort: phase1 desc, val asc):
| Rank | Epoch | phase1 | val | filename |
|---|---|---|---|---|
| 1 | 44 | 0.30 | 0.0434 | epoch=0044-succ=0.00-phase1=0.30-val=0.0434.ckpt |
| 2 | 28 | 0.20 | 0.0386 | epoch=0028-succ=0.00-phase1=0.20-val=0.0386.ckpt |
| 3 | 40 | 0.20 | 0.0388 | epoch=0040-succ=0.00-phase1=0.20-val=0.0388.ckpt |
| 4 | 38 | 0.20 | 0.0390 | epoch=0038-succ=0.00-phase1=0.20-val=0.0390.ckpt |
| 5 | 48 | 0.20 | 0.0423 | epoch=0048-succ=0.00-phase1=0.20-val=0.0423.ckpt |
Last 3 (by epoch among available ckpts):
| Epoch | phase1 | val |
|---|---|---|
| 48 | 0.20 | 0.0423 |
| 46 | 0.10 | 0.0441 |
| 44 | 0.30 | 0.0434 |
succ (eval rollout success) was 0.00 for all available ckpts at upload time;
phase1 is the phase-1 sub-score, val is validation loss.
Note: epoch 22 was present locally but not in top5 or last3, so not included.