pi0_busybox_multitask

Full-component fine-tune of π0 on SO-101 BusyBox multitask.

Policy	π0 (pi05=false, full-component)
Init	pi0_base
Dataset	armnet/busybox_multitask (132 episodes, 27 tasks)
Prompt	prompt_from_task
Actions	6-D, horizon 30, delta joints
Cameras	top → base_0_rgb, wrist → left_wrist_0_rgb, front → base_1_rgb
Training	1× H100 NVL, batch 8, 20k steps, cosine 2.5e-5 → 2.5e-6, warmup 1k, EMA 0.999
Result	loss 0.426 → 0.097 (step 19900). ~2 h 55 m. Code 7679e16
W&B	3yuw4r3l

Checkpoints

checkpoint-19999/ is the final step. train_state/ is not published.

checkpoint-5000/ · checkpoint-10000/ · checkpoint-15000/ · checkpoint-19999/

from huggingface_hub import snapshot_download
from openpi.policies import policy_config
from openpi.training.config import get_config

ckpt = snapshot_download("armnet/pi0_busybox_multitask", allow_patterns="checkpoint-19999/**")
policy = policy_config.create_trained_policy(
    get_config("pi0_busybox_multitask"),
    f"{ckpt}/checkpoint-19999",
)