OpenPI config: pi05_transformer_ctxd18_gated_fullvlm_libero_5090
Experiment: icra_nolora_fullvlm_transformer_gated_l18_depth4_cosine5e5_5e6_b16_acc1_seed42_resub
Step: 30000
Initializer: pi05_base_pytorch
Adaptation: full VLM / full vision / full action path, no LoRA
VLM prefix: L18
Mixer: Transformer depth4
Context interface: CC-Gate, pooled ctxD gate
Training: batch 16, grad accumulation 1, seed 42
LR schedule: cosine from 5e-5 to 5e-6 over 30k steps
LIBERO eval: seed 7, 50 trials per task, 10 denoising steps

LIBERO Results

Mixer	Context	Spatial	Object	Goal	LIBERO-10	Average	Action expert core	Train time	Median latency
Transformer	CC-Gate	82.8	90.6	86.8	82.6	85.7	0.030B	13.69 h	74.22 ms

Use

bash

--config-name pi05_transformer_ctxd18_gated_fullvlm_libero_5090
--checkpoint-dir /path/to/checkpoint

The checkpoint includes the LIBERO norm stats under assets/physical-intelligence/libero.