yixiaosz/pi0_button_press

pi0 fine-tuned for button-press (RM65-6F sim) — step 150000

Fine-tuned from lerobot/pi0_base with train_expert_only=true on the local/button_press_0901 dataset (61 episodes, 30981 frames, 2 cameras side_view/wrist_ego, 6-dim state/action).

This is the final fine-tune: continued from the earlier checkpoints to step 150000 (~19.4 epochs, batch_size=4, bf16), with a cosine LR schedule decaying 2.5e-5 -> 2.5e-6 across the full run. Loss converged to a plateau (~0.03-0.04) by the end. It supersedes the previously uploaded step-15000 policy.

Controls the RM65-6F + DexHand-021 sim to press the red button. Task: "press the red button on the box".