NONHUMAN-RESEARCH/pi05-hanoi-1309
Partial fine-tune vs lerobot/pi05_base. Partial change: 75% of the weights changed (attention, embeddings, mlp, norms, other), in 27 of 27 layers.
Tensors changed: other 6/6, lm_head 0/2, Norms 219/221, MLP 217/220, Attention 358/360, Embeddings 3/3