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"suite": "level2_rigid_from_deformable",
"suite_id": "x_deform2rigid",
"description": "level2_rigid tasks, initialised from the final level2_deformable policy (suite transfer), 50k further steps",
"campaign": "pi05_lv2xfer_20261101",
"tasks": [
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"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"
],
"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_deformable",
"campaign": "pi05_lv2sub_20261029",
"commit": "b98dac5e7c3a9bf64ea0c8822d64a4191b84ca80",
"npz": "multi_task/level2_deformable/lora_step_0050000.npz",
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"local_params": "/mnt1/Object_World_Dataset/gck_pi05_lv2sub/checkpoints/maniladder_pi05_lora/pi05_lora_l2deform/50000/params",
"mean_success_rate_on_own_tasks": 0.16666666666666666,
"note": "training started from ALL parameters of the final level2_deformable 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_rigid",
"source_suite": "level2_deformable",
"checkpoints": [
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"step": 10000,
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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": [
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"robot_camera",
"robot_camera_0",
"robot_camera_1"
],
"missing_right_wrist_image": "zeros",
"num_demos_per_task": 20,
"train_episodes": 320,
"train_frames": 142831,
"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": "014a5ba1aeac06ab3063bd1a4da191302fa7d71ea59ac544f0783e624c0a14d4",
"norm_stats_note": "the level2_rigid statistics of pi05_lv2sub_20261029 (same frames); padded dims repaired",
"training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task (16 tasks, 320 episodes, 142831 frames)",
"task_sources": {
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"cameras": [
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null
]
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null
]
},
"OpenBoxRetrieval-v1": {
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"level": "level_2",
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]
},
"KitAssembly-v1": {
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},
"GraspTwoBlocks-v1": {
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"category": "rigid_body/single_arm_dex",
"cameras": [
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]
},
"ReorientPen-v1": {
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"cameras": [
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]
},
"DexOpenDoor-v1": {
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"cameras": [
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},
"HammerNailOut-v1": {
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"level": "level_2",
"category": "rigid_body/single_arm_dex",
"cameras": [
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null
]
},
"DualArmLiftBall-v1": {
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"category": "rigid_body/dual_arm_gripper",
"cameras": [
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]
},
"DualArmBookPickPlace-v1": {
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"category": "rigid_body/dual_arm_gripper",
"cameras": [
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]
},
"DualArmPegInHole-v1": {
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"category": "rigid_body/dual_arm_gripper",
"cameras": [
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},
"DualArmCleanupPotEnv-v1": {
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"level": "level_2",
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]
},
"DualArmOpenLaptop-v1": {
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"sha256": "e2c3c0714da9a484ed7a7ac3dc6374f61c7e1867167f50b37dca9845534faf93",
"level": "level_2",
"category": "rigid_body/dual_arm_dex",
"cameras": [
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]
},
"DualArmThrowBlock-v1": {
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"category": "rigid_body/dual_arm_dex",
"cameras": [
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},
"DualArmJugglingBall-v1": {
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"level": "level_2",
"category": "rigid_body/dual_arm_dex",
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},
"DualArmOpenBottle-v1": {
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"category": "rigid_body/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": 0.19875,
"baseline_mean_success_rate": 0.17250000000000004
}
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