moonbot pi0 — three blocks stack
pi0 fine-tuned from lerobot/pi0_base
on gdiazsrl/three_blocks_stack_sep22
(296 episodes, 519,684 frames, 9 block-stacking tasks).
⚠️ Checkpoint 020000 — training still in progress
This is an intermediate checkpoint at step 20,000 of 20,000, published early so it can be evaluated while the run continues. It is not the final model.
Training configuration
| base | lerobot/pi0_base |
| batch_size | 16 |
| steps (total) | 20,000 |
| dtype | bfloat16 |
| gradient_checkpointing | true |
| freeze_vision_encoder | false |
| train_expert_only | false |
| GPU | RTX PRO 6000 Blackwell (96 GB), ~39 GB used |
Contents
pretrained_model/ only — model.safetensors plus the pre/post-processor
configs. The optimizer state (~14 GB) is not included; this checkpoint is for
inference and evaluation, not for resuming training.
Deployment note
Per Gustavo: open config.json in the downloaded checkpoint and remove invalid
fields such as pretrained_revision before loading with
rosetta/policy_bridge_node.py.
python src/rosetta/rosetta/policy_bridge_node.py --ros-args \
-p contract_path:=<path>/moonbot1.yaml \
-p policy_path:=<downloaded>/checkpoint-020000
The deployment contract must match the dataset: this model was trained on
21-dim observation.state (joint_read 8 + tip_pos 7 + F_ee 6).