AIDA-Pi0-CALVIN-ABC-SFT

AIDA PI0 CALVIN ABC SFT — step 13,500

This is an interim, full-parameter PI0 supervised-finetuning checkpoint trained on the ABC portion of the CALVIN dataset in LeRobot format. It was exported from the ongoing 30,000-step AIDA/RLinf training run at step 13,500.

Checkpoint summary

• Base model: lerobot/pi0_base (25c379b52ba2ff8788cab921758a3cc3fe3f77f2)
• Dataset: InternRobotics/InternData-Calvin_ABC (fd844a43912c1823ff8355873b6f013a5cce127a)
• Training: full-parameter SFT, global batch size 16, micro-batch size 1
• Progress: 13,500 of 30,000 planned optimizer steps
• Fixed ABC validation loss at this checkpoint: 0.106
• Validation set: one deterministic midpoint frame from each of 799 held-out ABC episodes
• Action contract used by the training runtime: five future 7D relative actions
• Normalization: statistics computed only from the 15,177-episode training split, bundled under InternRobotics/InternData-Calvin_ABC/norm_stats.json

CALVIN D was not mounted, inspected, or used for training or checkpoint selection.

Files

• model.safetensors: standalone PI0 model weights
• config.json: LeRobot PI0 policy configuration
• policy_preprocessor.json and policy_postprocessor.json: policy processor configuration
• InternRobotics/InternData-Calvin_ABC/norm_stats.json: train-split normalization statistics
• export_manifest.json: export hashes and state-dictionary compatibility details
• checkpoint_metadata.json: sanitized training and provenance metadata

Provenance

• RLinf source revision: 0f9ea98c7a6d9e3ade24e8f4846c64d3b135dbcc
• Training runtime image: sha256:d9eaa92d93aeba209b2af1ec810cb8bf866d432d27f160c7ab803d3e6274aadb
• Exported model SHA-256: 1ec9c2c3abb0c92b735bd125d297257f697737de623677e3e9de552de330143b
• Source RLinf full-weights SHA-256: c03a582a86bca5896909392206674feff0c615e7815aefaeb98f6e9337f302fb
• Train-split normalization SHA-256: abd6c2f8228d04e1677e86fee497e15477b1d4e5726e334373a045ad161af29a

Limitations

This is not the final checkpoint. The full training run is still in progress, and this checkpoint has not yet been selected using final-run comparisons or evaluated on the CALVIN task-success benchmark. The reported validation value is the fixed held-out ABC flow-matching loss, not a task success rate.

Use is subject to the base model's Gemma license and the terms of the referenced dataset and training software.