| { |
| "suite": "level_1", |
| "method": "PI0.5 LoRA + trainable weights, multi-task (one policy for every task of the level)", |
| "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params", |
| "checkpoint": "lora_step_0080000.npz", |
| "checkpoint_sha256": "676facb888b37820ff8d823203c575c96c1f5fcb4f314bd969f1cecf9f86957d", |
| "checkpoint_bytes": 1867943218, |
| "tensor_count": 51, |
| "trainable_params": 466981660, |
| "tasks": [ |
| "PushSoccer-v1", |
| "PickPlacePen-v1", |
| "OpenDoor-v1", |
| "StackBlock-v1", |
| "LiftBucket-v1", |
| "TurnOnFaucet-v1", |
| "ReorientCube-v1", |
| "GraspCylinder-v1", |
| "DualArmPushBox-v1", |
| "DualArmDoubleDoorBox-v1", |
| "DualArmButtonPress-v1", |
| "DualArmHammerHandover-v1", |
| "DualArmPressButton-v1", |
| "DualArmOpenScissor-v1", |
| "DualArmSwingCup-v1", |
| "DualArmOpenPen-v1", |
| "DualArmCoverCloth-v1", |
| "DualArmLiftSoftDex-v1", |
| "DualArmRopeStretch-v1", |
| "DualArmFoldHandKerchief-v1", |
| "DualArmPouringWater-v1", |
| "DualArmRopeCylinderWarpping-v1", |
| "DrapeCloth-v1", |
| "RopePalmCageHoldDex-v1", |
| "SqueezeClay-v1", |
| "ShapeTToI-v1", |
| "StraightenRope-v1", |
| "UnfoldShirt-v1" |
| ], |
| "num_tasks": 28, |
| "prompts": { |
| "PushSoccer-v1": "perform the ManiLadder task: push soccer", |
| "PickPlacePen-v1": "perform the ManiLadder task: pick place pen", |
| "OpenDoor-v1": "perform the ManiLadder task: open door", |
| "StackBlock-v1": "perform the ManiLadder task: stack block", |
| "LiftBucket-v1": "perform the ManiLadder task: lift bucket", |
| "TurnOnFaucet-v1": "perform the ManiLadder task: turn on faucet", |
| "ReorientCube-v1": "perform the ManiLadder task: reorient cube", |
| "GraspCylinder-v1": "perform the ManiLadder task: grasp cylinder", |
| "DualArmPushBox-v1": "perform the ManiLadder task: dual arm push box", |
| "DualArmDoubleDoorBox-v1": "perform the ManiLadder task: dual arm double door box", |
| "DualArmButtonPress-v1": "perform the ManiLadder task: dual arm button press", |
| "DualArmHammerHandover-v1": "perform the ManiLadder task: dual arm hammer handover", |
| "DualArmPressButton-v1": "perform the ManiLadder task: dual arm press button", |
| "DualArmOpenScissor-v1": "perform the ManiLadder task: dual arm open scissor", |
| "DualArmSwingCup-v1": "perform the ManiLadder task: dual arm swing cup", |
| "DualArmOpenPen-v1": "perform the ManiLadder task: dual arm open pen", |
| "DualArmCoverCloth-v1": "perform the ManiLadder task: dual arm cover cloth", |
| "DualArmLiftSoftDex-v1": "perform the ManiLadder task: dual arm lift soft dex", |
| "DualArmRopeStretch-v1": "perform the ManiLadder task: dual arm rope stretch", |
| "DualArmFoldHandKerchief-v1": "perform the ManiLadder task: dual arm fold hand kerchief", |
| "DualArmPouringWater-v1": "perform the ManiLadder task: dual arm pouring water", |
| "DualArmRopeCylinderWarpping-v1": "perform the ManiLadder task: dual arm rope cylinder warpping", |
| "DrapeCloth-v1": "perform the ManiLadder task: drape cloth", |
| "RopePalmCageHoldDex-v1": "perform the ManiLadder task: rope palm cage hold dex", |
| "SqueezeClay-v1": "perform the ManiLadder task: squeeze clay", |
| "ShapeTToI-v1": "perform the ManiLadder task: shape t to i", |
| "StraightenRope-v1": "perform the ManiLadder task: straighten rope", |
| "UnfoldShirt-v1": "perform the ManiLadder task: unfold shirt" |
| }, |
| "num_demos_per_task": 20, |
| "action_dim": 44, |
| "state_dim": 44, |
| "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": 80000, |
| "batch_size": 64, |
| "lr": 5e-05, |
| "warmup_steps": 1000, |
| "lr_schedule": "cosine decay over all 80k steps", |
| "data_parallel_gpus": 8, |
| "gpu": "NVIDIA A100 80GB", |
| "fsdp_devices": 1, |
| "online_eval": false, |
| "norm_stats_file": "norm_stats.json", |
| "norm_stats_sha256": "2ee8037535393988cf87ad99254ae9b551e025a441d7eab261139ec9ca6393f2", |
| "norm_stats_note": "quantile stats computed per dimension while ignoring padded (all-zero) action/state dimensions of embodiments narrower than action_dim, so q01==q99 collapse does not blow up scaling", |
| "training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task, revision 1190737391cc (sha256-verified download 2026-10-28)", |
| "training_data_overrides": { |
| "DualArmOpenScissor-v1": "local demos collected 2026-10-22 (HF copy of 2026-06-11 predates the env)" |
| }, |
| "excluded_tasks": { |
| "OpenCoffer-v1": "no demos exist", |
| "DualArmSqueezeClayDex-v1": "no demos exist", |
| "DualArmRopeScissorCut-v1": "no demos exist", |
| "DualArmBuildCanel-v1": "no demos exist", |
| "PickSoft-v1": "no demos exist", |
| "ClayMolding-v1": "no demos exist" |
| }, |
| "eval_episodes": 50, |
| "eval_seed_base": 1000, |
| "evaluated_steps": [ |
| 80000 |
| ], |
| "campaign": "pi05_levels_20261028", |
| "trained": "2026-10-29 02:10 -> 2026-10-30 (full restart with padding-aware norm stats)" |
| } |
|
|
