File size: 4,864 Bytes
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"suite": "level_2",
"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": "2a7bcee7c9f690f1c1f6552435907daeceb5da495d14f0a55affb13e3e6d8c8f",
"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": 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": "dd578f246b55ab92eff2f93926ef0d006826ba53fbe4fa1d4e592c0f4d28af45",
"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": {},
"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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