Views
No views yet
| Parameter | Value |
|---|---|
| Base model | pi0-FAST (PaliGemma 2B LoRA) |
| Fine-tune method | LoRA (gemma_2b_lora) |
| Steps | 1000 |
| Batch size | 32 |
| Action dim | 7 (6 arm joints + 1 gripper) |
| Action horizon | 10 |
| Max token length | 350 |
| delta joint actions | True |
| Field | Value |
|---|---|
| HF Dataset | kavinrajkr60/dk1_egodex |
| Source | EgoDex egocentric manipulation episodes |
| Episodes | 1800 (enriched ego part1 + part2) |
| Annotations | L1-L5 language annotations |
| FPS | 10 |
| Robot | TRLC DK1 Follower (6-DOF + parallel jaw gripper) |