surgical-pi05

π0.5 (LeRobot) policies fine-tuned on SurRoL surgical tasks. Full training checkpoints including model weights and optimizer state, saved every 10k steps.

Layout: <run>/train_pi05/checkpoints/<step>/{pretrained_model,training_state}. LAST_CHECKPOINT.txt names the final step. pretrained_model/ is directly loadable with LeRobot; training_state/ (optimizer, scheduler, RNG) is only needed to resume training.

run	size
bipegtransfer_pi05_compare_20260804	157G
needlepick_pi05_aligned22d_grasp3_20260811	157G
needlepick_pi05_compare_20260806	157G
needleregrasp_pi05_compare_20260730	157G
pegtransfer_pi05_compare_20260729	222G

Uploaded from /data/wenrui/surgical/run_logs on 2026-09-08.