ablations

Dominique P... @DominiqueCAPa... · 6h
Two months of ablating π0.5 finetunes on a real manufacturing task. The policy now succeeds 98% of the time.

We're publishing all results, all the data, and every run, including the ones that went nowhere.

What we learned:

1/ 5x more data took us from 63% to 76%. Pure scaling was the weakest lever we found.

2/ Diversity got more out of the same hours. 4h spread across five scenes beat 4h in the eval scene by 30pp.

3/ Quality did even better. One clean, slower hour on top of the 21h: 76% → 90%. That single hour added more than the 17 hours before it.

4/ So we tried quality on its own: 1h of clean data plus 240 rollouts with human interventions. 1.7h in total, 28% → 88%. That's 12 points above the 21h model with a twelfth of the data.

5/ Inference settings add more on top, with no retraining. They took the 21h model from 76% to 93%, and the 21h+1h model from 90% to 98%.

Just as useful: what didn't matter. Learning rate, batch size, relative vs. absolute joints, image augmentation. All less important than we expected.

Full write-up linked below.

[attached image/video at bottom, cut off: robot arms with grippers over a tray of small parts in an aluminium-frame workcell]

roboticspi0.5finetuningdata qualitydata scalingmanufacturingablations