File size: 4,949 Bytes
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"suite": "level_1",
"method": "PI0.5 LoRA + trainable weights, multi-task (one policy for every task of the level)",
"base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
"checkpoint": "lora_step_0080000.npz",
"checkpoint_sha256": "676facb888b37820ff8d823203c575c96c1f5fcb4f314bd969f1cecf9f86957d",
"checkpoint_bytes": 1867943218,
"tensor_count": 51,
"trainable_params": 466981660,
"tasks": [
"PushSoccer-v1",
"PickPlacePen-v1",
"OpenDoor-v1",
"StackBlock-v1",
"LiftBucket-v1",
"TurnOnFaucet-v1",
"ReorientCube-v1",
"GraspCylinder-v1",
"DualArmPushBox-v1",
"DualArmDoubleDoorBox-v1",
"DualArmButtonPress-v1",
"DualArmHammerHandover-v1",
"DualArmPressButton-v1",
"DualArmOpenScissor-v1",
"DualArmSwingCup-v1",
"DualArmOpenPen-v1",
"DualArmCoverCloth-v1",
"DualArmLiftSoftDex-v1",
"DualArmRopeStretch-v1",
"DualArmFoldHandKerchief-v1",
"DualArmPouringWater-v1",
"DualArmRopeCylinderWarpping-v1",
"DrapeCloth-v1",
"RopePalmCageHoldDex-v1",
"SqueezeClay-v1",
"ShapeTToI-v1",
"StraightenRope-v1",
"UnfoldShirt-v1"
],
"num_tasks": 28,
"prompts": {
"PushSoccer-v1": "perform the ManiLadder task: push soccer",
"PickPlacePen-v1": "perform the ManiLadder task: pick place pen",
"OpenDoor-v1": "perform the ManiLadder task: open door",
"StackBlock-v1": "perform the ManiLadder task: stack block",
"LiftBucket-v1": "perform the ManiLadder task: lift bucket",
"TurnOnFaucet-v1": "perform the ManiLadder task: turn on faucet",
"ReorientCube-v1": "perform the ManiLadder task: reorient cube",
"GraspCylinder-v1": "perform the ManiLadder task: grasp cylinder",
"DualArmPushBox-v1": "perform the ManiLadder task: dual arm push box",
"DualArmDoubleDoorBox-v1": "perform the ManiLadder task: dual arm double door box",
"DualArmButtonPress-v1": "perform the ManiLadder task: dual arm button press",
"DualArmHammerHandover-v1": "perform the ManiLadder task: dual arm hammer handover",
"DualArmPressButton-v1": "perform the ManiLadder task: dual arm press button",
"DualArmOpenScissor-v1": "perform the ManiLadder task: dual arm open scissor",
"DualArmSwingCup-v1": "perform the ManiLadder task: dual arm swing cup",
"DualArmOpenPen-v1": "perform the ManiLadder task: dual arm open pen",
"DualArmCoverCloth-v1": "perform the ManiLadder task: dual arm cover cloth",
"DualArmLiftSoftDex-v1": "perform the ManiLadder task: dual arm lift soft dex",
"DualArmRopeStretch-v1": "perform the ManiLadder task: dual arm rope stretch",
"DualArmFoldHandKerchief-v1": "perform the ManiLadder task: dual arm fold hand kerchief",
"DualArmPouringWater-v1": "perform the ManiLadder task: dual arm pouring water",
"DualArmRopeCylinderWarpping-v1": "perform the ManiLadder task: dual arm rope cylinder warpping",
"DrapeCloth-v1": "perform the ManiLadder task: drape cloth",
"RopePalmCageHoldDex-v1": "perform the ManiLadder task: rope palm cage hold dex",
"SqueezeClay-v1": "perform the ManiLadder task: squeeze clay",
"ShapeTToI-v1": "perform the ManiLadder task: shape t to i",
"StraightenRope-v1": "perform the ManiLadder task: straighten rope",
"UnfoldShirt-v1": "perform the ManiLadder task: unfold shirt"
},
"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": 80000,
"batch_size": 64,
"lr": 5e-05,
"warmup_steps": 1000,
"lr_schedule": "cosine decay over all 80k steps",
"data_parallel_gpus": 8,
"gpu": "NVIDIA A100 80GB",
"fsdp_devices": 1,
"online_eval": false,
"norm_stats_file": "norm_stats.json",
"norm_stats_sha256": "2ee8037535393988cf87ad99254ae9b551e025a441d7eab261139ec9ca6393f2",
"norm_stats_note": "quantile stats computed per dimension while ignoring padded (all-zero) action/state dimensions of embodiments narrower than action_dim, so q01==q99 collapse does not blow up scaling",
"training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task, revision 1190737391cc (sha256-verified download 2026-10-28)",
"training_data_overrides": {
"DualArmOpenScissor-v1": "local demos collected 2026-10-22 (HF copy of 2026-06-11 predates the env)"
},
"excluded_tasks": {
"OpenCoffer-v1": "no demos exist",
"DualArmSqueezeClayDex-v1": "no demos exist",
"DualArmRopeScissorCut-v1": "no demos exist",
"DualArmBuildCanel-v1": "no demos exist",
"PickSoft-v1": "no demos exist",
"ClayMolding-v1": "no demos exist"
},
"eval_episodes": 50,
"eval_seed_base": 1000,
"evaluated_steps": [
80000
],
"campaign": "pi05_levels_20261028",
"trained": "2026-10-29 02:10 -> 2026-10-30 (full restart with padding-aware norm stats)"
}
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