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Check out the documentation for more information.
pi05 tomato full comparison
| Cohort | Selected / admitted source episodes | Frames | Complete h10 windows | Updates |
|---|---|---|---|---|
| new_passed56 | 56 / 55 | 20857 | 17590 | 30000 |
| new56_old47 | 103 / 102 | 39616 | 35179 | 30000 |
Revision ef73fd6b1ab54dadd9a9703b286f1f18c2ca2296, align_v2. One camera-timestamp-invalid episode was rejected in both arms.
Mixed includes 47 old unreviewed episodes. Separate train-only normalization per arm.
Completed final checkpoints; not validation-selected best. No final trajectory-fit or real-robot evaluation.
Each version has full inference params/assets, CPU relocation evidence and loading instructions.
Shared offline tokenizer: runtime_assets/big_vision/paligemma_tokenizer.model.
Gemma terms, including Section 3.2, apply. NOTICE; code license.
Mixed new and old data, action horizons
All listed checkpoints completed 30,000 full fine-tuning updates. Each horizon includes its own train-only normalization.
| Horizon | Final checkpoint | Selected / contributing recordings | Complete windows |
|---|---|---|---|
| h16 | full/new56_plus_old47/h16/20261109-step030000 | 103 / 102 | 32221 |
| h32 | full/new56_plus_old47/h32/20261109-step030000 | 103 / 102 | 25765 |
| h10 | v2/h10 | 146 / 145 | 50583 |
| h24 | v2/h24 | 146 / 145 | 39846 |
| h32 | v2/h32 | 146 / 145 | 35056 |
| h10 | v3/h10 | 196 / 195 | 64901 |
| h24 | v3/h24 | 196 / 195 | 52305 |
| h32 | v3/h32 | 196 / 195 | 46658 |
New recordings passed review; old recordings were unreviewed. See each version for loading instructions. CPU policy loading and finite parameters are checked; no real-robot task-success evaluation is included.