| { |
| "suite": "level1_from_level2", |
| "method": "PI0.5 LoRA + trainable weights, multi-task; level-to-level transfer", |
| "source_level": "level_2", |
| "target_level": "level_1", |
| "init_checkpoint": "multi_task/level_2/lora_step_0080000.npz", |
| "init_note": "All weights (base + LoRA + trainable towers) initialised from the level_2 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": "d908cac219a367be30aeb3546018a3555702a66b803efd659ce2ef67e36d8da8", |
| "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": 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": "2ee8037535393988cf87ad99254ae9b551e025a441d7eab261139ec9ca6393f2", |
| "norm_stats_note": "identical to multi_task/level_1/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_1: Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task, revision 1190737391cc", |
| "training_data_overrides": { |
| "DualArmOpenScissor-v1": "local demos collected 2026-10-22 (HF copy of 2026-06-11 predates the env)" |
| }, |
| "excluded_tasks": {}, |
| "eval_episodes": 50, |
| "eval_seed_base": 1000, |
| "evaluated_steps": [ |
| 50000 |
| ], |
| "campaign": "pi05_transfer_20261101", |
| "trained": "2026-11-01 04:20 -> 18:28 (lyg2122)" |
| } |
|
|
