giakhuyendihoc/transformer-gated-l18-depth4-libero-nolora-fullvlm

Transformer L18 Depth4 CC-Gate LIBERO no-LoRA fullVLM

30k-step LIBERO finetuned checkpoint for the Transformer action-mixer ablation with pooled ctxD gated conditioning.

Checkpoint

• OpenPI config: pi05_transformer_ctxd18_gated_fullvlm_libero_5090
• Experiment: icra_nolora_fullvlm_transformer_gated_l18_depth4_cosine5e5_5e6_b16_acc1_seed42_resub
• Step: 30000
• Initializer: pi05_base_pytorch
• Adaptation: full VLM / full vision / full action path, no LoRA
• VLM prefix: L18
• Mixer: Transformer depth4
• Context interface: CC-Gate, pooled ctxD gate
• 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
Transformer	CC-Gate	82.8	90.6	86.8	82.6	85.7	0.030B	13.69 h	74.22 ms

Use

--config-name pi05_transformer_ctxd18_gated_fullvlm_libero_5090
--checkpoint-dir /path/to/checkpoint

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