PrismaX publishes π0.5 fine-tuning ablations and open-sources yamulator simulator

PrismaX, through its Castorhat account, published fine-tuning ablations behind its IROS 2026 π0.5 demo, based on 668 YAM pick-and-place episodes (about 10 hours).

In a custom MuJoCo-based simulator, hard lighting cut the expert-only π0.5 checkpoint's success roughly in half, while the full fine-tune was unaffected. LoRA and full fine-tuning performed similarly on the pick-and-place task.

The simulator is open source under the name yamulator.