| --- |
| license: mit |
| tags: |
| - robotics |
| - pi0.5 |
| - robocasa |
| --- |
| |
| # RACE_main_robocasa |
|
|
| pi0.5 checkpoints on RoboCasa H50 (25 single-stage atomic tasks, human teleop, ~55 demos/task, |
| 1382 episodes). PyTorch (openpi `PI0Pytorch`) safetensors; norm stats included under |
| `assets/robocasa/robocasa_h50/`. |
|
|
| | folder | what | notes | |
| |---|---|---| |
| | `teacher_ac10_30k_pytorch/` | pi0.5 teacher, action_horizon 10, 30k steps from `pi05_base`, batch 64 | PyTorch export (fp32) of the JAX checkpoint in `SeonghoonYu/RACE_Robocasa/teacher_ac10_30k` | |
| | `ft_vlmfreeze_h10_20k/` | plain fine-tune of the teacher, VLM (SigLIP + Gemma) frozen, action expert trained, horizon 10, 20k steps | model-only (no optimizer) | |
| | `ft_vlmfreeze_h15_20k/` | same, horizon 15 | model-only | |
| | `ft_vlmfreeze_h20_20k/` | same, horizon 20 | model-only | |
|
|
| Fine-tune hyperparameters (all three): batch 64, constant LR 5e-5 (no warmup), AdamW, grad clip 1.0, |
| bf16, 20k steps, initialised from the teacher. |
|
|
| RoboCasa eval (25 tasks x 50 trials, held-out object split B, open-loop chunk = horizon): |
|
|
| | checkpoint | replan | success | |
| |---|---|---| |
| | teacher_ac10_30k | 5 | 60.4% | |
| | teacher_ac10_30k | 10 | 62.6% | |
| | ft_vlmfreeze_h10_20k | 10 | 62.5% | |
| | ft_vlmfreeze_h15_20k | 15 | 62.1% | |
| | ft_vlmfreeze_h20_20k | 20 | 58.6% | |
| |
