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rollout_probe_pi05_lora
pi0.5 LoRA (r=16, DeltaAI, adapters unmerged via peft) evaluated on the drifted rig, 2026-09-22. Same rig, same day as rollout_probe_pi05.
Stopped early after two scenes:
| scene | result | notes |
|---|---|---|
| 1-6 | ~1/5 | the one success was a throw-in; 2 eps grasped then stalled hunting the bowl; 1 kicked the ball away |
| 1-5 | 0/5 | pi05_ft scored 5/5 here |
Motion visibly choppy. Latency ruled out: median control loop 30.0 Hz, worst gap 0.03 s, identical to the pi05_ft run, so unmerged-adapter overhead is not the cause. The stutter and failures are the policy. Consistent with training loss 0.066 vs ft 0.004: r=16 on the action expert underfits this task.
Remaining scenes skipped by design; two scenes at ~1/10 combined settled it. Setup identical to rollout_probe_pi05 (see its README): so101_paxini, top and wrist cameras, paxini fingertips recorded, RTC inference, 60 s episodes.
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