PI-Mamba checkpoints
PI0.5 (openpi, PyTorch) with the transformer action expert replaced by a Mamba action expert ("pi05_mamba_tiny",
context depth 12 or 18 = VLM layers read by the expert). 30k steps, batch 16; each folder holds
model.safetensors, metadata.pt and the dataset's assets/<repo>/norm_stats.json (optimizer state not saved).
| Folder (config / experiment) |
Data |
Recipe |
pi05_mamba_tiny_ctxd12_gated_lora_fullvlm_ur5_tube_tcp240_5090/pimamba_l12_lora_fullvlm_ur5_tube_tcp240_h50_30k_b16_r16_from_base |
UR5 tube (real) |
L12, gated, LoRA r16 + full VLM |
pi05_mamba_tiny_ctxd18_gated_lora_fullvlm_ur5_tube_tcp240_5090/pimamba_l18_lora_fullvlm_ur5_tube_tcp240_h50_30k_b16_r16_from_base |
UR5 tube (real) |
L18, gated, LoRA r16 + full VLM |
pi05_mamba_tiny_ctxd18_gated_depth4_lora_fullvlm_libero_5090/search_ctxd_20260706_l18_k64_gated_depth4_lora_fullvlm_fullvision_noema_30k_b16_r16_base |
LIBERO |
L18, depth 4, LoRA r16 + full VLM |
pi05_mamba_tiny_ctxd18_depth4_nolora_fullvlm_ur5_pour_tcp240_noforce_5090/icra_real_nolora_fullvlm_pimamba_l18_depth4_pour_h50_cosine5e5_5e6_b16_acc1_seed42_oldlr |
UR5 pour (real) |
ICRA: L18 depth 4, no LoRA, full VLM |
pi05_mamba_tiny_ctxd18_depth4_nolora_fullvlm_ur5_tube_tcp240_5090/icra_real_nolora_fullvlm_pimamba_l18_depth4_tube_h50_cosine5e5_5e6_b16_acc1_seed42_oldlr |
UR5 tube (real) |
ICRA: L18 depth 4, no LoRA, full VLM |
pi05_mamba_tiny_ctxd12_depth4_nolora_fullvlm_ur5_pour_tcp240_noforce_5090/icra_real_nolora_fullvlm_pimamba_l12_depth4_pour_h50_cosine5e5_5e6_b16_acc1_seed42_oldlr |
UR5 pour (real) |
ICRA: L12 depth 4, no LoRA, full VLM |
pi05_mamba_tiny_ctxd12_depth4_nolora_fullvlm_ur5_tube_tcp240_5090/icra_real_nolora_fullvlm_pimamba_l12_depth4_tube_h50_cosine5e5_5e6_b16_acc1_seed42_oldlr |
UR5 tube (real) |
ICRA: L12 depth 4, no LoRA, full VLM |
pi0.5 baselines (transformer action expert), same data and recipes
| Folder (config / experiment) |
Data |
Recipe |
pi05_libero_full_5090/pi05_libero_full_b16_acc1_30k_seed42_28805442 |
LIBERO |
pi0.5 full fine-tune |
pi05_libero_full_action_fullvision_lora_r16_5090/pi05_transformer_action_fullvision_lora_r16_30k_b16_acc1_from_base_fair_baseline |
LIBERO |
pi0.5 LoRA r16, full vision (fair baseline for the LoRA PI-Mamba) |
pi05_lora_fullvlm_ur5_pour_tcp240_noforce_5090/pi05_pour_lora_fullvlm_baseline_for_pimamba_h50_30k_b16_r16_acc1_cosine5e5_5e6_finalonly_20260707 |
UR5 pour (real) |
pi0.5 LoRA r16 + full VLM |
pi05_lora_fullvlm_ur5_tube_tcp240_5090/pi05_tube_lora_fullvlm_baseline_for_pimamba_h50_30k_b16_r16_acc1_cosine5e5_5e6_finalonly_20260707 |
UR5 tube (real) |
pi0.5 LoRA r16 + full VLM |
pi05_icra_ur5_pour_nolora_fullvlm_5090/icra_real_nolora_fullvlm_pi05_original_pour_h50_cosine5e5_5e6_b16_acc1_seed42_oldlr |
UR5 pour (real) |
ICRA: pi0.5 original (L18), no LoRA, full VLM |
pi05_icra_ur5_tube_nolora_fullvlm_5090/icra_real_nolora_fullvlm_pi05_original_tube_h50_cosine5e5_5e6_b16_acc1_seed42_oldlr |
UR5 tube (real) |
ICRA: pi0.5 original (L18), no LoRA, full VLM |
pi05_l12_icra_ur5_pour_nolora_fullvlm_5090/icra_real_nolora_fullvlm_pi05_l12_pour_h50_cosine5e5_5e6_b16_acc1_seed42_oldlr |
UR5 pour (real) |
ICRA: pi0.5 L12, no LoRA, full VLM |
pi05_l12_icra_ur5_tube_nolora_fullvlm_5090/icra_real_nolora_fullvlm_pi05_l12_tube_h50_cosine5e5_5e6_b16_acc1_seed42_oldlr |
UR5 tube (real) |
ICRA: pi0.5 L12, no LoRA, full VLM |
pi05_libero_l12_fullvlm_5090/icra_nolora_fullvlm_pi05_l12_cosine5e5_5e6_b16_acc1_seed42 |
LIBERO |
ICRA: pi0.5 L12, no LoRA, full VLM |
pi05_ww_k6_libero_full_5090/icra_nolora_fullvlm_pi05_ww_k6_cosine5e5_5e6_b16_acc1_seed42 |
LIBERO |
ICRA: pi0.5 WW-k6 paired-pruned L12, no LoRA, full VLM |
