---
tags:
- pi0
- robotics
- openpi
- vla
datasets:
- armnet/busybox_multitask
---

# pi0_busybox_multitask

Full-component fine-tune of [π0](https://github.com/Physical-Intelligence/openpi) on SO-101 BusyBox multitask.

| | |
|---|---|
| **Policy** | π0 (`pi05=false`, full-component) |
| **Init** | `pi0_base` |
| **Dataset** | [armnet/busybox_multitask](https://huggingface.co/datasets/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](https://wandb.ai/pravsels/busybox_multitask_pi0/runs/3yuw4r3l) |

## Checkpoints

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

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

```python
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",
)
```