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"suite": "level2_deformable_from_rigid",
"suite_id": "x_rigid2deform",
"description": "level2_deformable tasks, initialised from the final level2_rigid policy (suite transfer), 50k further steps",
"campaign": "pi05_lv2xfer_20261101",
"tasks": [
"FoldShirt-v1",
"ScoopWater-v1",
"StraightenTwoRopesSequential-v1",
"ClothWipe-v1",
"RollingPin-v1",
"RopeBridgeDex-v1",
"DualArmClothAlign-v1",
"DualArmPushObject-v1",
"DualArmStraightenRope-v1",
"DualArmPlaceRopeOverRod-v1",
"DualArmStuffCloth-v1",
"DualArmPouringTwoCups-v1"
],
"experiment": "suite transfer: continue the finished level-2 subset policy of another grouping on this suite's tasks",
"method": "PI0.5 LoRA + trainable weights, multi-task (one policy for all tasks in the suite)",
"base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
"init_from": {
"suite": "level2_rigid",
"campaign": "pi05_lv2sub_20261029",
"commit": "6418366a27087db3f6b1bbabcb3aea6beca649e4",
"npz": "multi_task/level2_rigid/lora_step_0050000.npz",
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"local_params": "/mnt1/Object_World_Dataset/gck_pi05_lv2sub/checkpoints/maniladder_pi05_lora/pi05_lora_l2rigid/50000/params",
"mean_success_rate_on_own_tasks": 0.17250000000000004,
"note": "training started from ALL parameters of the final level2_rigid checkpoint (= pi05_base + its lora_step_0050000.npz trainable tensors), i.e. LoRA and the trained vision/action layers continue from that policy; optimizer state and lr schedule restart"
},
"target_suite": "level2_deformable",
"source_suite": "level2_rigid",
"checkpoints": [
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"step": 10000,
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"file": "lora_step_0040000.npz",
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{
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}
],
"evaluated_checkpoint": "lora_step_0050000.npz",
"tensor_count": 51,
"action_dim": 44,
"state_dim": 44,
"action_dim_note": "44 = union of all level-2 embodiments (dual-arm dexterous); narrower embodiments are zero-padded",
"action_horizon": 50,
"max_token_len": 200,
"image_size": 224,
"exec_steps": 16,
"sample_steps": 10,
"control_mode": "pd_ee_delta_pose",
"state_input": "zero vector",
"cameras": [
"front_camera",
"robot_camera",
"robot_camera_0",
"robot_camera_1"
],
"missing_right_wrist_image": "zeros",
"num_demos_per_task": 20,
"train_episodes": 240,
"train_frames": 94166,
"train_steps": 50000,
"batch_size": 64,
"lr": 5e-05,
"warmup_steps": 1000,
"lr_schedule": "cosine decay over all 50000 steps to 5e-6 (fresh schedule, not a continuation of the source run)",
"data_parallel": "pure data parallel (fsdp_devices=1), 4-8 GPUs, global batch 64",
"norm_stats_file": "norm_stats.json",
"norm_stats_sha256": "54e87241dfddc4a1ac0b306dbac306ac745ed0e95b6cf0b41d6ce4767f6ace95",
"norm_stats_note": "the level2_deformable statistics of pi05_lv2sub_20261029 (same frames); padded dims repaired",
"training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task (12 tasks, 240 episodes, 94166 frames)",
"task_sources": {
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"sha256": "7e6a310b17fbec618f3026aefdd7e0aa2b2ae3fda1202d37fb3ff156ab2ba7fd",
"level": "level_2",
"category": "deformable/single_arm_gripper",
"cameras": [
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"robot_camera",
null
]
},
"ScoopWater-v1": {
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"sha256": "250d33381060b9e4f0f0e2b3f38fd3e365872ee159fbeeee6f66de5a64a3d167",
"level": "level_2",
"category": "deformable/single_arm_gripper",
"cameras": [
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"robot_camera",
null
]
},
"StraightenTwoRopesSequential-v1": {
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"level": "level_2",
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"cameras": [
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"robot_camera",
null
]
},
"ClothWipe-v1": {
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"level": "level_2",
"category": "deformable/single_arm_dex",
"cameras": [
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},
"RollingPin-v1": {
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"cameras": [
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},
"RopeBridgeDex-v1": {
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"category": "deformable/single_arm_dex",
"cameras": [
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null
]
},
"DualArmClothAlign-v1": {
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"sha256": "9f65e9339bd9b64ab708a1acfbf5780c14c0ab553ef0d83ba4cfe32b5a987748",
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"cameras": [
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},
"DualArmPushObject-v1": {
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"level": "level_2",
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"cameras": [
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]
},
"DualArmStraightenRope-v1": {
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"cameras": [
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]
},
"DualArmPlaceRopeOverRod-v1": {
"path": "maniladder/envs/deformable/dual_arm_dex/level_2/drape_rope.py",
"sha256": "670f1e36c3cd79cbce17b8e6a6fd5edd57816b15dcd8aad748be5a669b8fe14c",
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"category": "deformable/dual_arm_dex",
"cameras": [
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]
},
"DualArmStuffCloth-v1": {
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"level": "level_2",
"category": "deformable/dual_arm_dex",
"cameras": [
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]
},
"DualArmPouringTwoCups-v1": {
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"level": "level_2",
"category": "deformable/dual_arm_dex",
"cameras": [
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]
}
},
"eval_episodes": 50,
"eval_seed_base": 1000,
"evaluated_steps": [
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],
"selection": "final checkpoint only (no checkpoint selection)",
"eval_status": "done",
"mean_success_rate": 0.25833333333333336,
"baseline_mean_success_rate": 0.16666666666666666
}
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