| { |
| "suite": "level_2", |
| "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": "2a7bcee7c9f690f1c1f6552435907daeceb5da495d14f0a55affb13e3e6d8c8f", |
| "checkpoint_bytes": 1867943218, |
| "tensor_count": 51, |
| "trainable_params": 466981660, |
| "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", |
| "DualArmPlaceRopeOverRod-v1", |
| "DualArmStuffCloth-v1", |
| "DualArmPouringTwoCups-v1", |
| "DualArmClothAlign-v1", |
| "DualArmPushObject-v1", |
| "DualArmStraightenRope-v1", |
| "ClothWipe-v1", |
| "RollingPin-v1", |
| "RopeBridgeDex-v1", |
| "FoldShirt-v1", |
| "ScoopWater-v1", |
| "StraightenTwoRopesSequential-v1" |
| ], |
| "num_tasks": 28, |
| "prompts": { |
| "HangMug-v1": "perform the ManiLadder task: hang mug", |
| "PivotBook-v1": "perform the ManiLadder task: pivot book", |
| "OpenBoxRetrieval-v1": "perform the ManiLadder task: open box retrieval", |
| "KitAssembly-v1": "perform the ManiLadder task: kit assembly", |
| "GraspTwoBlocks-v1": "perform the ManiLadder task: grasp two blocks", |
| "ReorientPen-v1": "perform the ManiLadder task: reorient pen", |
| "DexOpenDoor-v1": "perform the ManiLadder task: dex open door", |
| "HammerNailOut-v1": "perform the ManiLadder task: hammer nail out", |
| "DualArmLiftBall-v1": "perform the ManiLadder task: dual arm lift ball", |
| "DualArmBookPickPlace-v1": "perform the ManiLadder task: dual arm book pick place", |
| "DualArmPegInHole-v1": "perform the ManiLadder task: dual arm peg in hole", |
| "DualArmCleanupPotEnv-v1": "perform the ManiLadder task: dual arm cleanup pot env", |
| "DualArmOpenLaptop-v1": "perform the ManiLadder task: dual arm open laptop", |
| "DualArmThrowBlock-v1": "perform the ManiLadder task: dual arm throw block", |
| "DualArmJugglingBall-v1": "perform the ManiLadder task: dual arm juggling ball", |
| "DualArmOpenBottle-v1": "perform the ManiLadder task: dual arm open bottle", |
| "DualArmPlaceRopeOverRod-v1": "perform the ManiLadder task: dual arm place rope over rod", |
| "DualArmStuffCloth-v1": "perform the ManiLadder task: dual arm stuff cloth", |
| "DualArmPouringTwoCups-v1": "perform the ManiLadder task: dual arm pouring two cups", |
| "DualArmClothAlign-v1": "perform the ManiLadder task: dual arm cloth align", |
| "DualArmPushObject-v1": "perform the ManiLadder task: dual arm push object", |
| "DualArmStraightenRope-v1": "perform the ManiLadder task: dual arm straighten rope", |
| "ClothWipe-v1": "perform the ManiLadder task: cloth wipe", |
| "RollingPin-v1": "perform the ManiLadder task: rolling pin", |
| "RopeBridgeDex-v1": "perform the ManiLadder task: rope bridge dex", |
| "FoldShirt-v1": "perform the ManiLadder task: fold shirt", |
| "ScoopWater-v1": "perform the ManiLadder task: scoop water", |
| "StraightenTwoRopesSequential-v1": "perform the ManiLadder task: straighten two ropes sequential" |
| }, |
| "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": "dd578f246b55ab92eff2f93926ef0d006826ba53fbe4fa1d4e592c0f4d28af45", |
| "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": {}, |
| "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)" |
| } |
|
|
