pi05-BimanualYAM-freshbase-raw-umi90-teleop10-ee20
Fresh-base pi05 EE20/H24 research checkpoint, trained for 12,000 optimizer steps with seed 1000.
- UMI share: 90%
- teleop share: 10%
- UMI dataset:
brandonyang/dual-lidar-umi-independent@a95b079b2b3dc73a912ecd12967f22f825d04fa8
- teleop dataset:
brandonyang/yam-ultrawide-teleop@e0fae691e2eee74430dd463adf8e17180bc735e9
- task:
pick up oranges and place them in the bowl
- rotation contraction: none
- action per arm:
xyz + first two rotation-matrix rows + absolute future normalized gripper
- transform:
inverse(T_t) @ T_(t+k) independently for k=1..24
- arm order: left, then right
- no terminal padding; execute exactly H24
This is a research checkpoint. Hardware use still requires the deployment-side IK, joint/collision limits, I2RT success checks, and the normal physical safety procedure. Pin the immutable Hub revision rather than main.
