model card: FFT recipe + held-out split

README.md

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+---
+license: apache-2.0
+base_model: physical-intelligence/pi05_base
+datasets:
+- NoahWeiss/farm_uf850_home_full
+tags:
+- robotics
+- pi0.5
+- openpi
+- ufactory-uf850
+---
+
+# farm_uf850_home_fft
+
+Full fine-tune (every parameter trainable, no LoRA/GSE) of pi0.5 on
+[NoahWeiss/farm_uf850_home_full](https://huggingface.co/datasets/NoahWeiss/farm_uf850_home_full)
+(revision `v2.0`): 1153 teleoperated UFactory UF850 episodes across 20 home
+manipulation tasks, recorded with a Quest 3 rig.
+
+## Held-out split
+
+63 episodes (2-5 per task, stratified, seed 153) were excluded from training
+and reserved for evaluation. The full labeled list is in
+[`heldout_home_full.json`](./heldout_home_full.json) in this repo. Training
+used the remaining 1090 episodes (~377k frames). Norm stats were computed on
+the train split only.
+
+## Recipe
+
+- openpi `pi05` config `pi05_farm_home_fft`: absolute joint actions
+  (`use_delta_joint_actions=False`), `action_horizon=10`, EMA 0.999
+  (saved params are the EMA copy)
+- 8x NVIDIA H200, `fsdp_devices=2` (4 data-parallel replicas), batch 64
+- AdamW, cosine schedule: 2k warmup, peak LR 3.5e-5, decay to 3.5e-6
+- heavy image domain randomization (brightness/contrast/saturation/hue,
+  per-channel gamma, grayscale, blur, crop/rotate)
+- ~12 h single-node run; checkpoints streamed here every `save_interval`
+  steps as `step-<N>` tags (params + assets, inference-ready)
+
+Training/eval code: the FARM repo (`model/amp_fft/`).