# PrismaX shares π0.5 policy transfer across YAM devices: fine-tuning ablations, latency bug, and 16GB VRAM deployment

- Source: Reddit r/robotics
- Published: 2026-10-29T16:46:57.000Z
- RoboHot: https://robohot.news/en/items/s948irwvnqz2hqpp5ilceeh3m
- Original: https://www.reddit.com/r/robotics/comments/1xip9dr/getting_a_%CF%8005_policy_trained_on_one_yam_rig_to/

## Summary

The PrismaX team shared its practice of transferring a π0.5 policy trained on one YAM device to another YAM device, covering three parts: fine-tuning ablations, latency troubleshooting, and VRAM compression. On fine-tuning, training only the action expert yielded a 51% grasp rate and a 12% drop rate; full fine-tuning gave 89% and 53%; r=128 LoRA gave 84% and 59% while using 32GB. Strong lighting roughly halved the performance of the checkpoint trained only on the action expert.

## Why it matters

The original post provides details on fine-tuning ablations, latency troubleshooting, and VRAM compression for π0.5 policy cross-device transfer, which can be reused on existing equipment in small labs.