Finetune pretrained BERT for custom regression task

I have a list of sentences:
X = ["Today is Tuesday", "I went to the store", "This is a computer",....]
and for each sentence the label is vector of 5 floats:
y = [[1,4,3,1,7], [5,1,2,8,9],[0,1,6,5,2],....]
I want to finetune BERT (or other sutiable pre-trained LM) with the proper head to predict the labels.
But I couldnt find ant example to something similar.
Can someone please provide a code sample as to how I can do it?
I am really helpless.

Thanks