File size: 4,990 Bytes
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"suite": "level_3",
"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": "83d050f0b1a67dea017aa2dfc51198524070a75bd93f189d899ecaeb4081b7e0",
"checkpoint_bytes": 1867992394,
"tensor_count": 51,
"trainable_params": 466993954,
"tasks": [
"GroceryPrepare-v1",
"Stack6Blocks-v1",
"PushTargetPose-v1",
"MazeBlockPush-v1",
"TweezersPickPlace-v1",
"ClutterGrasp-v1",
"MobilePickPlace-v1",
"HammerNail-v1",
"DualArmFoldCarton-v1",
"DualArmOpenFridge-v1",
"DualArmAssembleBracket-v1",
"DualArmOrganizeCabinet-v1",
"DualArmPingpongBalance-v1",
"DualArmSetupTable-v1",
"DualArmMakeLine-v1",
"DualArmPlugCharger-v1",
"DualArmLayerClayInDish-v1",
"DualArmThreadCloth-v1",
"DualArmThreading-v1",
"DualArmWeaveCloth-v1",
"DualArmShapeDoll-v1",
"DualArmThreadRopeThroughTube-v1",
"HitBox-v1",
"PressFitSoftPeg-v1",
"LiquidMeasuring-v1",
"SeparateTwoRopesEnv-v1"
],
"num_tasks": 26,
"prompts": {
"GroceryPrepare-v1": "perform the ManiLadder task: grocery prepare",
"Stack6Blocks-v1": "perform the ManiLadder task: stack6 blocks",
"PushTargetPose-v1": "perform the ManiLadder task: push target pose",
"MazeBlockPush-v1": "perform the ManiLadder task: maze block push",
"TweezersPickPlace-v1": "perform the ManiLadder task: tweezers pick place",
"ClutterGrasp-v1": "perform the ManiLadder task: clutter grasp",
"MobilePickPlace-v1": "perform the ManiLadder task: mobile pick place",
"HammerNail-v1": "perform the ManiLadder task: hammer nail",
"DualArmFoldCarton-v1": "perform the ManiLadder task: dual arm fold carton",
"DualArmOpenFridge-v1": "perform the ManiLadder task: dual arm open fridge",
"DualArmAssembleBracket-v1": "perform the ManiLadder task: dual arm assemble bracket",
"DualArmOrganizeCabinet-v1": "perform the ManiLadder task: dual arm organize cabinet",
"DualArmPingpongBalance-v1": "perform the ManiLadder task: dual arm pingpong balance",
"DualArmSetupTable-v1": "perform the ManiLadder task: dual arm setup table",
"DualArmMakeLine-v1": "perform the ManiLadder task: dual arm make line",
"DualArmPlugCharger-v1": "perform the ManiLadder task: dual arm plug charger",
"DualArmLayerClayInDish-v1": "perform the ManiLadder task: dual arm layer clay in dish",
"DualArmThreadCloth-v1": "perform the ManiLadder task: dual arm thread cloth",
"DualArmThreading-v1": "perform the ManiLadder task: dual arm threading",
"DualArmWeaveCloth-v1": "perform the ManiLadder task: dual arm weave cloth",
"DualArmShapeDoll-v1": "perform the ManiLadder task: dual arm shape doll",
"DualArmThreadRopeThroughTube-v1": "perform the ManiLadder task: dual arm thread rope through tube",
"HitBox-v1": "perform the ManiLadder task: hit box",
"PressFitSoftPeg-v1": "perform the ManiLadder task: press fit soft peg",
"LiquidMeasuring-v1": "perform the ManiLadder task: liquid measuring",
"SeparateTwoRopesEnv-v1": "perform the ManiLadder task: separate two ropes env"
},
"num_demos_per_task": 20,
"action_dim": 50,
"state_dim": 50,
"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": "a56198ac52c8710376ba23fb17460d6ffee6e7a2c4d90b2e2f98b3d319e3e4d4",
"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": {
"MazeBlockPush-v1": "local demos collected 2026-09-09 after the layout-pool change (HF copy of 2026-08-28 predates the env)"
},
"excluded_tasks": {
"BagHanging-v1": "level 3, excluded on request",
"BagDropIn-v1": "level 3, excluded on request",
"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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