| { |
| "suite": "level3_from_level2", |
| "method": "PI0.5 LoRA + trainable weights, multi-task; level-to-level transfer", |
| "source_level": "level_2", |
| "target_level": "level_3", |
| "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 differs between source and target (44 -> 50): action_in_proj/kernel, action_out_proj/kernel and action_out_proj/bias were copied on the overlapping slice and the new slots initialised like a fresh Flax Linear layer; every other tensor was copied as is.", |
| "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params (via the source level policy)", |
| "checkpoint": "lora_step_0050000.npz", |
| "checkpoint_sha256": "e70b239f67df087c387c75c92c3a6251cf8cea7b2f5ca684b3d55587f8604045", |
| "checkpoint_bytes": 1867992394, |
| "tensor_count": 51, |
| "trainable_params": 466993954, |
| "tasks": [ |
| "GroceryPrepare-v1", |
| "Stack6Blocks-v1", |
| "PushTargetPose-v1", |
| "MazeBlockPush-v1", |
| "TweezersPickPlace-v1", |
| "ClutterGrasp-v1", |
| "MobilePickPlace-v1", |
| "HammerNail-v1", |
| "DualArmFoldCarton-v1", |
| "DualArmOpenFridge-v1", |
| "DualArmAssembleBracket-v1", |
| "DualArmOrganizeCabinet-v1", |
| "DualArmPingpongBalance-v1", |
| "DualArmSetupTable-v1", |
| "DualArmMakeLine-v1", |
| "DualArmPlugCharger-v1", |
| "DualArmLayerClayInDish-v1", |
| "DualArmThreadCloth-v1", |
| "DualArmThreading-v1", |
| "DualArmWeaveCloth-v1", |
| "DualArmShapeDoll-v1", |
| "DualArmThreadRopeThroughTube-v1", |
| "HitBox-v1", |
| "PressFitSoftPeg-v1", |
| "LiquidMeasuring-v1", |
| "SeparateTwoRopesEnv-v1" |
| ], |
| "num_tasks": 26, |
| "prompts": { |
| "GroceryPrepare-v1": "perform the ManiLadder task: grocery prepare", |
| "Stack6Blocks-v1": "perform the ManiLadder task: stack6 blocks", |
| "PushTargetPose-v1": "perform the ManiLadder task: push target pose", |
| "MazeBlockPush-v1": "perform the ManiLadder task: maze block push", |
| "TweezersPickPlace-v1": "perform the ManiLadder task: tweezers pick place", |
| "ClutterGrasp-v1": "perform the ManiLadder task: clutter grasp", |
| "MobilePickPlace-v1": "perform the ManiLadder task: mobile pick place", |
| "HammerNail-v1": "perform the ManiLadder task: hammer nail", |
| "DualArmFoldCarton-v1": "perform the ManiLadder task: dual arm fold carton", |
| "DualArmOpenFridge-v1": "perform the ManiLadder task: dual arm open fridge", |
| "DualArmAssembleBracket-v1": "perform the ManiLadder task: dual arm assemble bracket", |
| "DualArmOrganizeCabinet-v1": "perform the ManiLadder task: dual arm organize cabinet", |
| "DualArmPingpongBalance-v1": "perform the ManiLadder task: dual arm pingpong balance", |
| "DualArmSetupTable-v1": "perform the ManiLadder task: dual arm setup table", |
| "DualArmMakeLine-v1": "perform the ManiLadder task: dual arm make line", |
| "DualArmPlugCharger-v1": "perform the ManiLadder task: dual arm plug charger", |
| "DualArmLayerClayInDish-v1": "perform the ManiLadder task: dual arm layer clay in dish", |
| "DualArmThreadCloth-v1": "perform the ManiLadder task: dual arm thread cloth", |
| "DualArmThreading-v1": "perform the ManiLadder task: dual arm threading", |
| "DualArmWeaveCloth-v1": "perform the ManiLadder task: dual arm weave cloth", |
| "DualArmShapeDoll-v1": "perform the ManiLadder task: dual arm shape doll", |
| "DualArmThreadRopeThroughTube-v1": "perform the ManiLadder task: dual arm thread rope through tube", |
| "HitBox-v1": "perform the ManiLadder task: hit box", |
| "PressFitSoftPeg-v1": "perform the ManiLadder task: press fit soft peg", |
| "LiquidMeasuring-v1": "perform the ManiLadder task: liquid measuring", |
| "SeparateTwoRopesEnv-v1": "perform the ManiLadder task: separate two ropes env" |
| }, |
| "num_demos_per_task": 20, |
| "action_dim": 50, |
| "state_dim": 50, |
| "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": "a56198ac52c8710376ba23fb17460d6ffee6e7a2c4d90b2e2f98b3d319e3e4d4", |
| "norm_stats_note": "identical to multi_task/level_3/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_3: Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task, revision 1190737391cc", |
| "training_data_overrides": { |
| "MazeBlockPush-v1": "local demos collected 2026-09-09 after the layout-pool change (HF copy of 2026-08-28 predates the env)" |
| }, |
| "excluded_tasks": { |
| "BagHanging-v1": "level 3, excluded on request", |
| "BagDropIn-v1": "level 3, excluded on request" |
| }, |
| "eval_episodes": 50, |
| "eval_seed_base": 1000, |
| "evaluated_steps": [ |
| 50000 |
| ], |
| "campaign": "pi05_transfer_20261101", |
| "trained": "2026-11-01 04:20 -> 18:17 (lyg2056)" |
| } |
|
|
