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pi0_marker100_real_ft
mimiminsoo/pi0_marker100_real_ft
pi0_marker100_real_ft is a machine learning model from mimiminsoo. Use it for the machine learning task on the model card, and read the license before you ship it in a product.
Continual LoRA fine-tune of mimiminsoo/pi0-lora-marker100-h30 (itself a LoRA fine-tune of pi0base, trained on 97 sim episodes) further adapted to 30 real-robot SO101 marker-in-cup episodes (mimiminsoo/markerrealv21, 1…
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Updated Aug 7, 2026
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At a glance
- Access
- Public
- Created
- Aug 7, 2026
- Updated
- Aug 7, 2026
- SHA
- 5a88ae84
Model card
From the Hugging Face model README
mimiminsoo/pi0_marker100_real_ft
Continual LoRA fine-tune of mimiminsoo/pi0-lora-marker100-h30 (itself a LoRA fine-tune
of pi0_base, trained on 97 sim episodes) further adapted to 30 real-robot SO101
marker-in-cup episodes (mimiminsoo/marker_real_v21, 18,433 frames).
Norm stats are reused from the sim (marker_100) training run rather than recomputed on
the real data, so the input/output scale stays consistent with the base LoRA weights.
- config:
pi0_marker100_real_ft - base checkpoint:
mimiminsoo/pi0-lora-marker100-h30 - checkpoint step:
2999/ 3000 - lr schedule: cosine decay, peak_lr=1e-5, warmup=100 steps, decay_lr=1e-6
- checkpoints saved every 500 steps under the run for comparison on the real robot
Serving
uv run scripts/serve_policy.py --port=8000 \
policy:checkpoint --policy.config=pi0_marker100_real_ft --policy.dir=<local path to this repo>
- Created
- Aug 7, 2026
- Updated
- Aug 7, 2026