Kavin60606/

piper-finetune-sim-validation-20260331

	Piper Fine-Tuning + Sim Validation (Public Experiment)




	
	Summary

This repo contains a full experiment log for fine-tuning a pi0_fast_piper_lora policy on a Piper pick-and-place dataset, then validating the policy on held-out episodes with side-by-side MuJoCo playback:

Left video: model-predicted actions Right video: ground-truth actions

The core result is that retargeting works end-to-end and the policy tracks task intent on unseen episodes, with visible residual… See the full description on the dataset page: https://huggingface.co/datasets/Kavin60606/piper-finetune-sim-validation-20260331.