cloudwalk-research/psi0-g1-sneaker-he-mix-465ep-v5-finetune
Robotics • Updated
Psi0-family fine-tunes & LeRobot datasets for the Unitree G1 humanoid. CloudWalk Robotics Lab (CW-RL).
Note v5 — sneaker-in-box + HE pick-place mix (465 ep, 80k steps)
Note v4 fine-tune — bimanual + lateral + recovery + negative; 160k steps; eval/loss 0.209