metadata
tags:
- pi0
- robotics
- openpi
- vla
datasets:
- armnet/busybox_multitask
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",
)