rollout_eval_pi05_ft

Rollout evaluation of Jingyi-Z/pi05-sotac-ft (pi0.5 full fine-tune, 20k steps on sotac_vp ep 0-70, LeRobot 0.6.1) on the SO-101 bench, 2026-09-16. First pi0.5 evaluation on this rig.

Protocol: bowl fixed at point 1, ball at points 6, 5, 4, 3, 2, 7; five consecutive 60 s episodes per scene, 30 s reset. Stock lerobot 0.6.1 lerobot-rollout with the RTC inference engine (the policy uses relative actions), episodic strategy, cameras top idx 0 / wrist idx 2 renamed to the pi0.5 camera keys at load. observation.state in the recording is 318-dim (6 joints + 312 tactile at 30 Hz); the policy consumes joints and images only, tactile is recorded for analysis.

Episode map

Episodes	Scene
0-4	1-6
5-9	1-5
10-14	1-4
15-19	1-3
20-24	1-2
25-29	1-7

All 30 episodes valid. Scoring: stage rubric S0-S5 in the lerobotac dataset visualizer. Companions: rollout_eval_tac_{mlp,pred,esn,esnpred}, rollout_eval_A_71ep (ACT baseline), rollout_eval_pi05_lora (pending).