training_bundle/config/openpi_diff.patch

diff --git a/src/openpi/training/config.py b/src/openpi/training/config.py
index 4ca47e1..cb06175 100644
--- a/src/openpi/training/config.py
+++ b/src/openpi/training/config.py
@@ -826,6 +826,36 @@ _CONFIGS = [
         batch_size=64,
     ),
     #
+    # Fine-tuning Kinova captures (plush-to-box).
+    #
+    TrainConfig(
+        name="pi05_kinova_plush_box",
+        model=pi0_config.Pi0Config(
+            pi05=True,
+            action_dim=32,
+            action_horizon=10,
+        ),
+        data=LeRobotLiberoDataConfig(
+            repo_id="local/kinova_plush_box",
+            base_config=DataConfig(prompt_from_task=True),
+            extra_delta_transform=True,
+        ),
+        weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi05_base/params"),
+        lr_schedule=_optimizer.CosineDecaySchedule(
+            warmup_steps=1_000,
+            peak_lr=2.5e-5,
+            decay_steps=8_000,
+            decay_lr=2.5e-6,
+        ),
+        num_train_steps=8_000,
+        batch_size=16,
+        num_workers=0,
+        log_interval=50,
+        save_interval=1_000,
+        keep_period=5_000,
+        wandb_enabled=False,
+    ),
+    #
     # Fine-tuning DROID configs.
     #
     TrainConfig(