FabianKerj/pi05_corkinbox100_fullrel-15k

pi05_corkinbox100_fullrel — Checkpoint 15000

Intermediate checkpoint (step 15000 / 20000) from the pi05_corkinbox100_fullrel training run.

• Base model: lerobot/pi05_base
• Dataset: FabianKerj/corkinbox100-fullrel (100 eps, 37036 frames, 30 fps, dk1_follower, 2 cameras)
• Actions: relative, all 7 dims (including continuous gripper). relative_exclude_joints: [].
• Training: batch 64, bf16, gradient_checkpointing, LR 2.5e-05 (cosine), ~5s/step on H100.
• Loss at this checkpoint: ~0.003
• Final run: FabianKerj/pi05_corkinbox100_fullrel (step 20000 on main branch).

Contains a complete resumable training_state (optimizer, scheduler, rng, step).