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Kavin60606/
pi0-fast-libero-lora-baseline

Name: pi0-fast-libero-lora-baseline
Availability: InStock

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pi0-fast LoRA Baseline — LIBERO (1000 steps)

Experimental LoRA fine-tune of pi0-fast on the full LIBERO dataset.

This is the baseline run (Run A) for a sample efficiency experiment comparing:

Run A: Raw 2h teleop data → fine-tune pi0-fast (this checkpoint)
Run B: Raw 30min teleop data → fine-tune pi0-fast
Run C: Enriched 30min teleop data (via Fidelity-Teleop-Workbench enrichment pipeline) → fine-tune pi0-fast

Claim: Enriched 30min data can match raw 2h data performance → 4x sample efficiency.

Parameter	Value
Base model	pi0-fast (PaLI-Gemma 2B + FAST tokenizer)
Method	LoRA (rank 16)
Dataset	physical-intelligence/libero (1693 episodes, 7.6h, 40 tasks)
Steps	1,000
Batch size	32
Step time	~3.5s
Total time	~58 min
GPU	NVIDIA A100-SXM4-40GB
VRAM used	36.8 GB
Framework	JAX (OpenPI)

Training tracked at: wandb run

The enrichment pipeline produces per-episode signals:

These signals enable quality filtering and sample weighting for Run C.