| { |
| "suite": "level2_rigid_from_deformable", |
| "suite_id": "x_deform2rigid", |
| "description": "level2_rigid tasks, initialised from the final level2_deformable policy (suite transfer), 50k further steps", |
| "campaign": "pi05_lv2xfer_20261101", |
| "tasks": [ |
| "HangMug-v1", |
| "PivotBook-v1", |
| "OpenBoxRetrieval-v1", |
| "KitAssembly-v1", |
| "GraspTwoBlocks-v1", |
| "ReorientPen-v1", |
| "DexOpenDoor-v1", |
| "HammerNailOut-v1", |
| "DualArmLiftBall-v1", |
| "DualArmBookPickPlace-v1", |
| "DualArmPegInHole-v1", |
| "DualArmCleanupPotEnv-v1", |
| "DualArmOpenLaptop-v1", |
| "DualArmThrowBlock-v1", |
| "DualArmJugglingBall-v1", |
| "DualArmOpenBottle-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_deformable", |
| "campaign": "pi05_lv2sub_20261029", |
| "commit": "b98dac5e7c3a9bf64ea0c8822d64a4191b84ca80", |
| "npz": "multi_task/level2_deformable/lora_step_0050000.npz", |
| "npz_sha256": "e9413b1b39eeb1064efbb440c0c32fd51622a2d49d94b1f07f9b924b0f4933c3", |
| "local_params": "/mnt1/Object_World_Dataset/gck_pi05_lv2sub/checkpoints/maniladder_pi05_lora/pi05_lora_l2deform/50000/params", |
| "mean_success_rate_on_own_tasks": 0.16666666666666666, |
| "note": "training started from ALL parameters of the final level2_deformable 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_rigid", |
| "source_suite": "level2_deformable", |
| "checkpoints": [ |
| { |
| "file": "lora_step_0010000.npz", |
| "step": 10000, |
| "sha256": "70399b69df74d35f470a805dd0ced191a256caafd7d8049c56145f69ea854aa3", |
| "bytes": 1867943218, |
| "evaluated": false |
| }, |
| { |
| "file": "lora_step_0020000.npz", |
| "step": 20000, |
| "sha256": "9de92a98830a7bdfd0a3b7b2d02871ddfe97d7bc14a12a792ebe711309df8ee1", |
| "bytes": 1867943218, |
| "evaluated": false |
| }, |
| { |
| "file": "lora_step_0030000.npz", |
| "step": 30000, |
| "sha256": "83d9d16541dde3f59fd54f48624b53b86505bb6790ab0bfc0330d52f2e1798ac", |
| "bytes": 1867943218, |
| "evaluated": false |
| }, |
| { |
| "file": "lora_step_0040000.npz", |
| "step": 40000, |
| "sha256": "bce7861d3d914e4839b9f0f22ce01643a80c69f983292f0c256d196e1d00b512", |
| "bytes": 1867943218, |
| "evaluated": false |
| }, |
| { |
| "file": "lora_step_0050000.npz", |
| "step": 50000, |
| "sha256": "2a851d021c14cc3eb87e830c153b92890d77f8c52dea6a10654bcf423588ad75", |
| "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": 320, |
| "train_frames": 142831, |
| "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": "014a5ba1aeac06ab3063bd1a4da191302fa7d71ea59ac544f0783e624c0a14d4", |
| "norm_stats_note": "the level2_rigid statistics of pi05_lv2sub_20261029 (same frames); padded dims repaired", |
| "training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task (16 tasks, 320 episodes, 142831 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 |
| ] |
| }, |
| "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 |
| ] |
| }, |
| "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" |
| ] |
| }, |
| "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" |
| ] |
| } |
| }, |
| "eval_episodes": 50, |
| "eval_seed_base": 1000, |
| "evaluated_steps": [ |
| 50000 |
| ], |
| "selection": "final checkpoint only (no checkpoint selection)", |
| "eval_status": "done", |
| "mean_success_rate": 0.19875, |
| "baseline_mean_success_rate": 0.17250000000000004 |
| } |
|
|
