在 LIBERO-10 上,pi0-FAST 以仅配置调整的方式实现了 ~85% 的性能,高于广泛引用的 60.2% 的基准。

Our experiments (@iqr-lab, @ziyaosg) show that setting `extra_delta_transform=False` during fine-tuning raises LIBERO-10 success from ~60% to ~85%, without modifying the model or adding new training code.