| { |
| "suite": "level2_deformable_from_rigid", |
| "suite_id": "x_rigid2deform", |
| "description": "level2_deformable tasks, initialised from the final level2_rigid policy (suite transfer), 50k further steps", |
| "campaign": "pi05_lv2xfer_20261101", |
| "tasks": [ |
| "FoldShirt-v1", |
| "ScoopWater-v1", |
| "StraightenTwoRopesSequential-v1", |
| "ClothWipe-v1", |
| "RollingPin-v1", |
| "RopeBridgeDex-v1", |
| "DualArmClothAlign-v1", |
| "DualArmPushObject-v1", |
| "DualArmStraightenRope-v1", |
| "DualArmPlaceRopeOverRod-v1", |
| "DualArmStuffCloth-v1", |
| "DualArmPouringTwoCups-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_rigid", |
| "campaign": "pi05_lv2sub_20261029", |
| "commit": "6418366a27087db3f6b1bbabcb3aea6beca649e4", |
| "npz": "multi_task/level2_rigid/lora_step_0050000.npz", |
| "npz_sha256": "51fd5f209443986f40ff7168b3ebde67465ffc8ce9f4b0b763f48f1be5534ec6", |
| "local_params": "/mnt1/Object_World_Dataset/gck_pi05_lv2sub/checkpoints/maniladder_pi05_lora/pi05_lora_l2rigid/50000/params", |
| "mean_success_rate_on_own_tasks": 0.17250000000000004, |
| "note": "training started from ALL parameters of the final level2_rigid 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_deformable", |
| "source_suite": "level2_rigid", |
| "checkpoints": [ |
| { |
| "file": "lora_step_0010000.npz", |
| "step": 10000, |
| "sha256": "b59c5e3a39555e0fc9d2edb6e127ea5a763e21c6e5e4dc4183db56289ac0612f", |
| "bytes": 1867943218, |
| "evaluated": false |
| }, |
| { |
| "file": "lora_step_0020000.npz", |
| "step": 20000, |
| "sha256": "14a26b031de747f89f7298e5b8d5dc5d88127919e6e0d39a39b289f135229f4f", |
| "bytes": 1867943218, |
| "evaluated": false |
| }, |
| { |
| "file": "lora_step_0030000.npz", |
| "step": 30000, |
| "sha256": "92653f72cbb35bee686f300ca65b39ca4304c698c94a12594828a4bba9466242", |
| "bytes": 1867943218, |
| "evaluated": false |
| }, |
| { |
| "file": "lora_step_0040000.npz", |
| "step": 40000, |
| "sha256": "b1571b7d1519a79dd9d4185ad2b8ac7f7689a774c9605fba51b4087d203e0524", |
| "bytes": 1867943218, |
| "evaluated": false |
| }, |
| { |
| "file": "lora_step_0050000.npz", |
| "step": 50000, |
| "sha256": "9665a5e298c5ff6ce7c05b97c45d97f524e32f6b6e76b6bd4d269bd78b0155a5", |
| "bytes": 1867943218, |
| "evaluated": true |
| } |
| ], |
| "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": [ |
| "front_camera", |
| "robot_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ], |
| "missing_right_wrist_image": "zeros", |
| "num_demos_per_task": 20, |
| "train_episodes": 240, |
| "train_frames": 94166, |
| "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": "54e87241dfddc4a1ac0b306dbac306ac745ed0e95b6cf0b41d6ce4767f6ace95", |
| "norm_stats_note": "the level2_deformable statistics of pi05_lv2sub_20261029 (same frames); padded dims repaired", |
| "training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task (12 tasks, 240 episodes, 94166 frames)", |
| "task_sources": { |
| "FoldShirt-v1": { |
| "path": "maniladder/envs/deformable/single_arm_gripper/level_2/fold_shirt.py", |
| "sha256": "7e6a310b17fbec618f3026aefdd7e0aa2b2ae3fda1202d37fb3ff156ab2ba7fd", |
| "level": "level_2", |
| "category": "deformable/single_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "ScoopWater-v1": { |
| "path": "maniladder/envs/deformable/single_arm_gripper/level_2/scoop_water.py", |
| "sha256": "250d33381060b9e4f0f0e2b3f38fd3e365872ee159fbeeee6f66de5a64a3d167", |
| "level": "level_2", |
| "category": "deformable/single_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "StraightenTwoRopesSequential-v1": { |
| "path": "maniladder/envs/deformable/single_arm_gripper/level_2/straighten_two_rope.py", |
| "sha256": "7c5a2e562811d68514a730933f5d15c132fb007f0c29ce299e8b111a60abb1ab", |
| "level": "level_2", |
| "category": "deformable/single_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "ClothWipe-v1": { |
| "path": "maniladder/envs/deformable/single_arm_dex/level_2/cloth_wipe.py", |
| "sha256": "45ce8bb2815accba3fae96c9411bc24a4c176607691392b121c31c75ebf6d9e4", |
| "level": "level_2", |
| "category": "deformable/single_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "RollingPin-v1": { |
| "path": "maniladder/envs/deformable/single_arm_dex/level_2/rooling_pin.py", |
| "sha256": "b8d9b39ad2753b9e8f97b8d9117ba1c1c6c16005d90cbab3c8fa30505b4fb62f", |
| "level": "level_2", |
| "category": "deformable/single_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "RopeBridgeDex-v1": { |
| "path": "maniladder/envs/deformable/single_arm_dex/level_2/rope_bridge.py", |
| "sha256": "bdae492d46519fea218838c421eb3217df1dea4ecd0ec2358df099f4dfc2765f", |
| "level": "level_2", |
| "category": "deformable/single_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "DualArmClothAlign-v1": { |
| "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/cloth_align.py", |
| "sha256": "9f65e9339bd9b64ab708a1acfbf5780c14c0ab553ef0d83ba4cfe32b5a987748", |
| "level": "level_2", |
| "category": "deformable/dual_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmPushObject-v1": { |
| "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/push_object.py", |
| "sha256": "3f0cf62ba9ad3f2b6e93d3808fd68b11a810ed6b7eedea063c922059afbc5ab6", |
| "level": "level_2", |
| "category": "deformable/dual_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmStraightenRope-v1": { |
| "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/straighten_rope_dual.py", |
| "sha256": "fae8f4feb83db36e70574f232d3c6faab0d7fbc43a5dac2cb13fd8bc13207314", |
| "level": "level_2", |
| "category": "deformable/dual_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmPlaceRopeOverRod-v1": { |
| "path": "maniladder/envs/deformable/dual_arm_dex/level_2/drape_rope.py", |
| "sha256": "670f1e36c3cd79cbce17b8e6a6fd5edd57816b15dcd8aad748be5a669b8fe14c", |
| "level": "level_2", |
| "category": "deformable/dual_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmStuffCloth-v1": { |
| "path": "maniladder/envs/deformable/dual_arm_dex/level_2/stuff_cloth.py", |
| "sha256": "5b93ca100fb7b035fa07f9c334e1dce162baf7915a1bbf56cae0f1d78f5d56f8", |
| "level": "level_2", |
| "category": "deformable/dual_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmPouringTwoCups-v1": { |
| "path": "maniladder/envs/deformable/dual_arm_dex/level_2/water_cup.py", |
| "sha256": "4ac7b0bf11eecec6703389831a8711f66875b4dbfedbe6ab8a5faf04ceb9281d", |
| "level": "level_2", |
| "category": "deformable/dual_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| } |
| }, |
| "eval_episodes": 50, |
| "eval_seed_base": 1000, |
| "evaluated_steps": [ |
| 50000 |
| ], |
| "selection": "final checkpoint only (no checkpoint selection)", |
| "eval_status": "done", |
| "mean_success_rate": 0.25833333333333336, |
| "baseline_mean_success_rate": 0.16666666666666666 |
| } |
|
|
