| { |
| "suite": "level_3", |
| "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": "83d050f0b1a67dea017aa2dfc51198524070a75bd93f189d899ecaeb4081b7e0", |
| "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": 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": "a56198ac52c8710376ba23fb17460d6ffee6e7a2c4d90b2e2f98b3d319e3e4d4", |
| "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": { |
| "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", |
| "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)" |
| } |
|
|
