I could confirm 50-100 demonstrations are enough for fine-tuning pi0/pi05. I did research with aloha and humanoid. It works from 20~40ep(5~10min) but success rate would be 70~80%. Pi0 tech paper suggests to use over 1~4 hours of data. I could get 95% success rate for pick&place with 1 hour of humanoid. Anyway, required hours for good SR depend on generality of data. Long Horizon task over 5 min is not working as paper because PI removed high level(subtask) reasoning part in released pi05.