lerobot/pi05_robocasa
Partial fine-tune vs lerobot/pi05_base. Partial change: 82% of the weights changed (attention, embeddings, lm_head, mlp, norms, other), in 27 of 27 layers.
Tensors changed: other 6/6, lm_head 1/2, Norms 221/221, MLP 215/220, Attention 358/360, Embeddings 3/3