File size: 4,967 Bytes
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"suite": "level2_from_level1",
"method": "PI0.5 LoRA + trainable weights, multi-task; level-to-level transfer",
"source_level": "level_1",
"target_level": "level_2",
"init_checkpoint": "multi_task/level_1/lora_step_0080000.npz",
"init_note": "All weights (base + LoRA + trainable towers) initialised from the level_1 multi-task policy at step 80000 (its full orbax params); the optimizer, warmup and cosine schedule were restarted. action_dim identical (44); every tensor copied as is.",
"base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params (via the source level policy)",
"checkpoint": "lora_step_0050000.npz",
"checkpoint_sha256": "65cb58a221346f46bd2b33758e2a12c53714d43bfba4c8788c9cde0b62b666fb",
"checkpoint_bytes": 1867943218,
"tensor_count": 51,
"trainable_params": 466981660,
"tasks": [
"HangMug-v1",
"PivotBook-v1",
"OpenBoxRetrieval-v1",
"KitAssembly-v1",
"GraspTwoBlocks-v1",
"ReorientPen-v1",
"DexOpenDoor-v1",
"HammerNailOut-v1",
"DualArmLiftBall-v1",
"DualArmBookPickPlace-v1",
"DualArmPegInHole-v1",
"DualArmCleanupPotEnv-v1",
"DualArmOpenLaptop-v1",
"DualArmThrowBlock-v1",
"DualArmJugglingBall-v1",
"DualArmOpenBottle-v1",
"DualArmPlaceRopeOverRod-v1",
"DualArmStuffCloth-v1",
"DualArmPouringTwoCups-v1",
"DualArmClothAlign-v1",
"DualArmPushObject-v1",
"DualArmStraightenRope-v1",
"ClothWipe-v1",
"RollingPin-v1",
"RopeBridgeDex-v1",
"FoldShirt-v1",
"ScoopWater-v1",
"StraightenTwoRopesSequential-v1"
],
"num_tasks": 28,
"prompts": {
"HangMug-v1": "perform the ManiLadder task: hang mug",
"PivotBook-v1": "perform the ManiLadder task: pivot book",
"OpenBoxRetrieval-v1": "perform the ManiLadder task: open box retrieval",
"KitAssembly-v1": "perform the ManiLadder task: kit assembly",
"GraspTwoBlocks-v1": "perform the ManiLadder task: grasp two blocks",
"ReorientPen-v1": "perform the ManiLadder task: reorient pen",
"DexOpenDoor-v1": "perform the ManiLadder task: dex open door",
"HammerNailOut-v1": "perform the ManiLadder task: hammer nail out",
"DualArmLiftBall-v1": "perform the ManiLadder task: dual arm lift ball",
"DualArmBookPickPlace-v1": "perform the ManiLadder task: dual arm book pick place",
"DualArmPegInHole-v1": "perform the ManiLadder task: dual arm peg in hole",
"DualArmCleanupPotEnv-v1": "perform the ManiLadder task: dual arm cleanup pot env",
"DualArmOpenLaptop-v1": "perform the ManiLadder task: dual arm open laptop",
"DualArmThrowBlock-v1": "perform the ManiLadder task: dual arm throw block",
"DualArmJugglingBall-v1": "perform the ManiLadder task: dual arm juggling ball",
"DualArmOpenBottle-v1": "perform the ManiLadder task: dual arm open bottle",
"DualArmPlaceRopeOverRod-v1": "perform the ManiLadder task: dual arm place rope over rod",
"DualArmStuffCloth-v1": "perform the ManiLadder task: dual arm stuff cloth",
"DualArmPouringTwoCups-v1": "perform the ManiLadder task: dual arm pouring two cups",
"DualArmClothAlign-v1": "perform the ManiLadder task: dual arm cloth align",
"DualArmPushObject-v1": "perform the ManiLadder task: dual arm push object",
"DualArmStraightenRope-v1": "perform the ManiLadder task: dual arm straighten rope",
"ClothWipe-v1": "perform the ManiLadder task: cloth wipe",
"RollingPin-v1": "perform the ManiLadder task: rolling pin",
"RopeBridgeDex-v1": "perform the ManiLadder task: rope bridge dex",
"FoldShirt-v1": "perform the ManiLadder task: fold shirt",
"ScoopWater-v1": "perform the ManiLadder task: scoop water",
"StraightenTwoRopesSequential-v1": "perform the ManiLadder task: straighten two ropes sequential"
},
"num_demos_per_task": 20,
"action_dim": 44,
"state_dim": 44,
"state_input": "zero vector",
"action_horizon": 50,
"max_token_len": 200,
"image_size": 224,
"exec_steps": 16,
"sample_steps": 10,
"control_mode": "pd_ee_delta_pose",
"train_steps": 50000,
"batch_size": 64,
"lr": 5e-05,
"warmup_steps": 1000,
"lr_schedule": "cosine decay 5e-5 -> 5e-6 over all 50000 steps",
"data_parallel_gpus": 8,
"gpu": "NVIDIA A100 80GB",
"fsdp_devices": 1,
"online_eval": false,
"norm_stats_file": "norm_stats.json",
"norm_stats_sha256": "dd578f246b55ab92eff2f93926ef0d006826ba53fbe4fa1d4e592c0f4d28af45",
"norm_stats_note": "identical to multi_task/level_2/norm_stats.json: quantile stats of the target level, computed per dimension while ignoring padded (all-zero) action/state dimensions",
"training_data": "same dataset as multi_task/level_2: Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task, revision 1190737391cc",
"training_data_overrides": {},
"excluded_tasks": {},
"eval_episodes": 50,
"eval_seed_base": 1000,
"evaluated_steps": [
50000
],
"campaign": "pi05_transfer_20261101",
"trained": "2026-11-01 04:20 -> 18:16 (lyg2119)"
}
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