giakhuyendihoc/pimamba-l18-depth4-crossattn-libero-nolora-fullvlm

PI-Mamba L18 Depth4 CC-XAttn LIBERO no-LoRA fullVLM

30k-step LIBERO finetuned checkpoint for the PI-Mamba context-interface ablation with token-level ctxD cross-attention and no gate.

Checkpoint

• OpenPI config: pi05_mamba_tiny_ctxd18_crossattn_fullvlm_libero_5090
• Experiment: icra_nolora_fullvlm_pimamba_l18_crossattn_depth4_cosine5e5_5e6_b16_acc1_seed42
• Step: 30000
• Initializer: pi05_base_pytorch
• Adaptation: full VLM / full vision / full action path, no LoRA
• VLM prefix: L18
• Mixer: Mamba depth4
• Context interface: CC-XAttn, token-level ctxD cross-attention
• Training: batch 16, grad accumulation 1, seed 42
• LR schedule: cosine from 5e-5 to 5e-6 over 30k steps
• LIBERO eval: seed 7, 50 trials per task, 10 denoising steps

LIBERO Results

Mixer	Context	Spatial	Object	Goal	LIBERO-10	Average	Action expert core	Train time	Median latency
Mamba	CC-XAttn	98.6	99.4	94.6	94.2	96.7	0.017B	13.83 h	119.66 ms

Use

--config-name pi05_mamba_tiny_ctxd18_crossattn_fullvlm_libero_5090
--checkpoint-dir /path/to/checkpoint

The checkpoint includes the LIBERO norm stats under assets/physical-intelligence/libero.