| { |
| "suite": "level2_gripper", |
| "suite_id": "l2gripper", |
| "description": "all level-2 gripper tasks (single-arm + dual-arm)", |
| "campaign": "pi05_lv2sub_20261029", |
| "tasks": [ |
| "HangMug-v1", |
| "PivotBook-v1", |
| "OpenBoxRetrieval-v1", |
| "KitAssembly-v1", |
| "FoldShirt-v1", |
| "ScoopWater-v1", |
| "StraightenTwoRopesSequential-v1", |
| "DualArmLiftBall-v1", |
| "DualArmBookPickPlace-v1", |
| "DualArmPegInHole-v1", |
| "DualArmCleanupPotEnv-v1", |
| "DualArmClothAlign-v1", |
| "DualArmPushObject-v1", |
| "DualArmStraightenRope-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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| "file": "lora_step_0020000.npz", |
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| { |
| "file": "lora_step_0050000.npz", |
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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": 114805, |
| "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": "36335ffa97f995c23c2df7fa305dea3af7e8cf6f14b2f99c40c71e2affcdc884", |
| "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, 114805 frames)", |
| "task_sources": { |
| "HangMug-v1": { |
| "path": "maniladder/envs/rigid_body/single_arm_gripper/level_2/hang_mug.py", |
| "sha256": "18a95ccc658e8725d4d38a6e8f445bb8a22e6671b5647e0e49b87b14a2109f31", |
| "level": "level_2", |
| "category": "rigid_body/single_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "PivotBook-v1": { |
| "path": "maniladder/envs/rigid_body/single_arm_gripper/level_2/pivot_book.py", |
| "sha256": "b4a162f84c4c43180ea4bc6e8a98326713273b862b4e24b5f8b03d6d6c8d93cc", |
| "level": "level_2", |
| "category": "rigid_body/single_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "OpenBoxRetrieval-v1": { |
| "path": "maniladder/envs/rigid_body/single_arm_gripper/level_2/open_box_retrieval.py", |
| "sha256": "2fade45048b317313439c6f85cc569b0baeb16165f7457379c823abf63bed27b", |
| "level": "level_2", |
| "category": "rigid_body/single_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "KitAssembly-v1": { |
| "path": "maniladder/envs/rigid_body/single_arm_gripper/level_2/kit_assembly.py", |
| "sha256": "d7161b09b2a3612f099cf4281e99103afe66f65a39b25dc4f24b9a6d97ed9b2a", |
| "level": "level_2", |
| "category": "rigid_body/single_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ] |
| }, |
| "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 |
| ] |
| }, |
| "DualArmLiftBall-v1": { |
| "path": "maniladder/envs/rigid_body/dual_arm_gripper/level_2/lift_ball.py", |
| "sha256": "0560e10a0e9d98906408f8171268cd04ce655a626f38850bca0f31bf04bd9154", |
| "level": "level_2", |
| "category": "rigid_body/dual_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmBookPickPlace-v1": { |
| "path": "maniladder/envs/rigid_body/dual_arm_gripper/level_2/book_pick_place.py", |
| "sha256": "6a92d5e17c749bacb4dbb9c0aa8b5a6b3922710a70247473846b807e71e8e7a4", |
| "level": "level_2", |
| "category": "rigid_body/dual_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmPegInHole-v1": { |
| "path": "maniladder/envs/rigid_body/dual_arm_gripper/level_2/peg_in_hole.py", |
| "sha256": "38c5217e32fae22a0fa962b54c44a42fc12cd1220060d602365b8be75f42e5ae", |
| "level": "level_2", |
| "category": "rigid_body/dual_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "DualArmCleanupPotEnv-v1": { |
| "path": "maniladder/envs/rigid_body/dual_arm_gripper/level_2/cleanup_pot.py", |
| "sha256": "279f544967eb0539e28bc8cd4063d28b80aa0fead7c0733a1787ad0fc983b155", |
| "level": "level_2", |
| "category": "rigid_body/dual_arm_gripper", |
| "cameras": [ |
| "front_camera", |
| "robot_camera_0", |
| "robot_camera_1" |
| ] |
| }, |
| "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" |
| ] |
| } |
| }, |
| "eval_episodes": 50, |
| "eval_seed_base": 1000, |
| "evaluated_steps": [ |
| 50000 |
| ], |
| "selection": "final checkpoint only (no checkpoint selection)" |
| } |
|
|
