Pi0.5 Sort, Stack and Drawer (equal)
Full fine-tuning from pi05_base on three Franka single-arm tasks: cube sorting, cup stacking and drawer manipulation.
Sampling: equal task weights (1:1:1).
Checkpoints: 30000, 40000 and 45000. Each contains inference params, normalization assets and training state. Batch size 16; action horizon 20; temporal sampling 30 Hz.
The 50000-step save failed due to local disk quota and is not included.