pi0 full fine-tuning — KIRO 11단계 통합 (14-D)
- base:
lerobot/pi0_base@26b99b9439ac - dataset: KIRO 11단계
_14Dmerge — 1,741 ep / 645,077 frames - steps 30,000 · batch 32 · bf16 · gradient checkpointing
- GPU: H100 SXM 80GB 1장 · 약 15.7시간 (1.88 s/step)
- checkpoints: 루트 = 030000 최종 /
checkpoints/<step>/= 중간