pi0_5_rmbench_preset_luna_b64_60k

Low-level policy for RMBench (9 simulated tabletop tasks), fine-tuned from lerobot/pi05_base on Myungkyu/RMBench-preset-luna — demonstrations with dense subtask labels from the subtask preset.

• Architecture: Pi0.5 (three camera views + one keyframe slot, memory-content convention full_frame_v1)
• Optimizer batch 64, 60000 steps, final checkpoint
• Inputs: head + left/right wrist images, proprioception, the current subtask text; the keyframe slot takes a retrieved past frame when the label calls for one

Configs reference the base backbone / tokenizer by hub id or by the training site's local path — point them at your local copies before loading.