simtos_3031_40k_notorso_ – AI Model by rainbowrobotics | AlphaNeural AI

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simtos_3031_40k_notorso_

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simtos_3031_40k_notorso_

Pi0.5 model fine-tuned from lerobot/pi05_base on rainbowrobotics/simtos_sort_30_31_merged_notorso_qfixed.

Model Details

Base model: lerobot/pi05_base (PaliGemma 2B + Gemma 300M action expert)
Robot: RBY1 (dual arm)
Task: Recyclable sorting (cans, PET bottles, paper)
Training steps: 40,000
Batch size: 20
dtype: bfloat16

Input / Output

Feature	Shape	Type
`observation.state`	(16,)	right_arm (7) + left_arm (7) + grippers (2)
`observation.images.front`	(480, 640, 3)	Front camera
`observation.images.right`	(640, 480, 3)	Right camera
`observation.images.left`	(640, 480, 3)	Left camera
`action`	(16,)	right_arm (7) + left_arm (7) + grippers (2)

Training Config

Learning rate: 2.5e-5 (cosine decay to 2.5e-6)
Warmup steps: 1,000
Optimizer: AdamW (weight_decay=0.01)
Normalization: QUANTILES (state & action)
freeze_vision_encoder: false
train_expert_only: false