---
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/`).