pi0.5 SO101 Eye Drops Top Shelf (Isambard)
Fine-tuned pi0.5 checkpoint for SO101 eye-drops placing task. Trained on Isambard GH200 (4x GPU node). Final checkpoint at step 49999.
Config
- Config name: pi05_so101_eye_drops_top_shelf
- Experiment name: so101_eye_drops_top_shelf
- Model: pi0.5 (pi05=True, action_horizon=30)
- Batch size: 32, LR: 2.5e-5 cosine (1k warmup), EMA: 0.999
- Delta actions: yes, Default prompt: place the eye drops on the top shelf
Dataset
- lorenzouttini/so101_eye_drops_top_shelf2_20260609_160053
Usage
from openpi.training.config import get_config config = get_config("pi05_so101_eye_drops_top_shelf")