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pi05-real-cab-higher-firsthalf-60-droid-refined-lora
LoRA fine-tune of pi0.5 (pi05_droid warm-start) on
IDEAS-Lab-Northwestern/real-cab-higher-firsthalf-60-droid-refined — 60 real
Franka teleop trajectories of the first half of the cabinet task (open the
cabinet, keep the door area clear), DROID schema.
- Task prompt: "Open the cabinet. Keep the area around the door clear."
- Warm-start:
gs://openpi-assets/checkpoints/pi05_droid/params(clean, fresh) - LoRA:
gemma_2b_lora(rank 16) +gemma_300m_lora(rank 32), batch 4, EMA off. - Norm-stats: reuses
pi05_droid's bundled DROID assets (no recompute).
Checkpoint ladder
| Dir | Cumulative steps | Train loss |
|---|---|---|
10000/ |
10k | 0.0046 |
20000/ |
20k | 0.0032 |
30000/ |
30k | 0.0029 |
40000/ |
40k | 0.0038 |
50000/ |
50k (saved at step 49999) | 0.0031 |
Train loss bottoms at ~30k; eval-sweep 20k–40k.
Refined real setup
Refined real setup (raised-Z cabinet) — refined wrist & main-camera poses and
gripper. Wrist = raw cam1, exterior = raw cam0. Collector: yypeng666.
Schema (DROID) / inference
exterior_image_1_left ← exterior cam0, wrist_image_left ← wrist cam1,
exterior_image_2_left zero-pad; joint_position(7)+gripper_position(1) state;
actions(8)=joint_velocity(7)+next gripper target(1). Serve with openpi
pi05_droid_finetune_lora. train_state/ omitted (inference-only). Eval on a
real Franka, not the SFT server.