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dachiiA81/
tau0-bottleslot-all2-ft

Name: tau0-bottleslot-all2-ft
Availability: InStock

sii-research/tau-0-wm

finetune

apache-2.0

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tau-0-wm — UR3e bottleslot (single right arm) fine-tune (action branch)

Fine-tune of sii-research/tau-0-wm on the UR3e single-right-arm bottleslot task (bottole_slot_all2, 421 episodes, "fit the bottle into the slot").

Single-arm mapping

tau-0-wm's action space is fixed dual-arm (20-dim). This task uses one arm, so the real right arm is placed in the right slot and the left slot is a constant dummy pose (xyz=0, identity rot, grip=0). The flow-matching loss is masked to the right-arm 10 dims only (--arm-mode right). At inference, use the right-arm action; ignore the left.

Training

Action-branch flow-matching FT (frozen video backbone / VAE / T5; ~0.5B action stream trained).
DDP 8×A100, global batch 32, AdamW lr 5e-5 (warmup 1000 + cosine), wd 1e-4, grad-clip 1.0.
12 epochs ≈ 56k steps. 2 cameras (front, wrist_right). 20 checkpoints.
Normalization: statistics_bottleslot_all2.json (openpi RunningStats over relative-EEF-6D, dual-mapped).

Files

checkpoints/ckpt_XXXXXX.pt — {"step","model"}, full WanModel state dict (bf16, ~11GB), deployable.
statistics_bottleslot_all2.json — action/state mean-std for (de)normalization at inference.

dachiiA81/tau0-bottleslot-all2-ft

tau-0-wm — UR3e bottleslot (single right arm) fine-tune (action branch)

Single-arm mapping

Training

Files

dachiiA81/
tau0-bottleslot-all2-ft