| { |
| "suite": "level2_dexterous", |
| "suite_id": "l2dex", |
| "description": "all level-2 dexterous-hand tasks (single-arm + dual-arm)", |
| "campaign": "pi05_lv2sub_20261029", |
| "tasks": [ |
| "GraspTwoBlocks-v1", |
| "ReorientPen-v1", |
| "DexOpenDoor-v1", |
| "HammerNailOut-v1", |
| "ClothWipe-v1", |
| "RollingPin-v1", |
| "RopeBridgeDex-v1", |
| "DualArmOpenLaptop-v1", |
| "DualArmThrowBlock-v1", |
| "DualArmJugglingBall-v1", |
| "DualArmOpenBottle-v1", |
| "DualArmPlaceRopeOverRod-v1", |
| "DualArmStuffCloth-v1", |
| "DualArmPouringTwoCups-v1" |
| ], |
| "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", |
| "checkpoints": [ |
| { |
| "file": "lora_step_0010000.npz", |
| "step": 10000, |
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| "evaluated": false |
| }, |
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| { |
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| } |
| ], |
| "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, as in the level-2 dataset", |
| "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": 280, |
| "train_frames": 122192, |
| "train_steps": 50000, |
| "batch_size": 64, |
| "lr": 5e-05, |
| "warmup_steps": 1000, |
| "lr_schedule": "cosine decay over all 50000 steps to 5e-6", |
| "data_parallel": "pure data parallel (fsdp_devices=1), 2-8 GPUs, global batch 64", |
| "norm_stats_file": "norm_stats.json", |
| "norm_stats_sha256": "9397d7156f3f5609f19545d375553f34f430b3fa44336d3e63d32035ff422ba7", |
| "norm_stats_note": "quantile stats computed on this suite's frames only; padded dims whose q01==q99 were repaired (padding-aware)", |
| "training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task (14 tasks, 280 episodes, 122192 frames)", |
| "task_sources": { |
| "GraspTwoBlocks-v1": { |
| "path": "maniladder/envs/rigid_body/single_arm_dex/level_2/grasp_blocks.py", |
| "sha256": "5ca6052059d89129ea2053033b959eafe590e119664bbcf431143d371650d66e", |
| "level": "level_2", |
| "category": "rigid_body/single_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "ReorientPen-v1": { |
| "path": "maniladder/envs/rigid_body/single_arm_dex/level_2/reorient_pen.py", |
| "sha256": "cb46bbdf5dc53cc310e613a1556720d34b444b1333421682cd9b5133972aa386", |
| "level": "level_2", |
| "category": "rigid_body/single_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "DexOpenDoor-v1": { |
| "path": "maniladder/envs/rigid_body/single_arm_dex/level_2/open_door.py", |
| "sha256": "6c21f64c2a98c359f1d01c67743cd590799b763ba3e1b933b7204d798312d062", |
| "level": "level_2", |
| "category": "rigid_body/single_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "HammerNailOut-v1": { |
| "path": "maniladder/envs/rigid_body/single_arm_dex/level_2/hammer_nail_out.py", |
| "sha256": "f524116a35ee681f0573ed934a47914d71d1ab9ca9cfd610f7d43a574cb8bac4", |
| "level": "level_2", |
| "category": "rigid_body/single_arm_dex", |
| "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 |
| ] |
| }, |
| "DualArmOpenLaptop-v1": { |
| "path": "maniladder/envs/rigid_body/dual_arm_dex/level_2/open_laptop.py", |
| "sha256": "e2c3c0714da9a484ed7a7ac3dc6374f61c7e1867167f50b37dca9845534faf93", |
| "level": "level_2", |
| "category": "rigid_body/dual_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmThrowBlock-v1": { |
| "path": "maniladder/envs/rigid_body/dual_arm_dex/level_2/throw_ball.py", |
| "sha256": "0a00a7e724272b98eb42cd58fb57f6e15756a6e115f19f320febda6dda6d7680", |
| "level": "level_2", |
| "category": "rigid_body/dual_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmJugglingBall-v1": { |
| "path": "maniladder/envs/rigid_body/dual_arm_dex/level_2/juggle_ball.py", |
| "sha256": "f5a65ccfa2d7aa379f131628849315ce1840b5e11620e5f6a86c6a3451706ed1", |
| "level": "level_2", |
| "category": "rigid_body/dual_arm_dex", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmOpenBottle-v1": { |
| "path": "maniladder/envs/rigid_body/dual_arm_dex/level_2/open_bottle.py", |
| "sha256": "6c492aff17adfba725a0f605df5394f4fe93e04ef122cf473a210e4a2cf84e2f", |
| "level": "level_2", |
| "category": "rigid_body/dual_arm_dex", |
| "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)" |
| } |
|
|
