| { |
| "suite": "level_4", |
| "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": "6282d8278bfbc4c9bcefd2f520108fa162113fd6a6713d6cf398b86ce70541c4", |
| "checkpoint_bytes": 1867992394, |
| "tensor_count": 51, |
| "trainable_params": 466993954, |
| "tasks": [ |
| "RingTossing-v1", |
| "HitBilliard-v1", |
| "FlipPan-v1", |
| "PingPongBallTransport-v1", |
| "FitnessBall-v1", |
| "TennisRally-v1", |
| "RodThroughHoles-v1", |
| "SpinPenHora-v1", |
| "DualArmBallClassify-v1", |
| "DualArmBilliardBridge-v1", |
| "DualArmRubikCube-v1", |
| "DualArmMahjongSetup-v1", |
| "DualArmKeyboardType-v1", |
| "DualArmSendPingpong-v1", |
| "DualArmFlipTable-v1", |
| "DualArmShootBasketball-v1", |
| "DualArmClothCylinderWipe-v1", |
| "DualArmJumpRope-v1", |
| "DualArmLiquidMixing-v1", |
| "DualArmClothHanger-v1", |
| "DualArmSandShovel-v1", |
| "DualArmWallRings-v1", |
| "CoverPattern-v1", |
| "ClaySealStamp-v1", |
| "BuildTent-v1", |
| "WrapRope-v1", |
| "StampRoll-v1" |
| ], |
| "num_tasks": 27, |
| "prompts": { |
| "RingTossing-v1": "perform the ManiLadder task: ring tossing", |
| "HitBilliard-v1": "perform the ManiLadder task: hit billiard", |
| "FlipPan-v1": "perform the ManiLadder task: flip pan", |
| "PingPongBallTransport-v1": "perform the ManiLadder task: ping pong ball transport", |
| "FitnessBall-v1": "perform the ManiLadder task: fitness ball", |
| "TennisRally-v1": "perform the ManiLadder task: tennis rally", |
| "RodThroughHoles-v1": "perform the ManiLadder task: rod through holes", |
| "SpinPenHora-v1": "perform the ManiLadder task: spin pen hora", |
| "DualArmBallClassify-v1": "perform the ManiLadder task: dual arm ball classify", |
| "DualArmBilliardBridge-v1": "perform the ManiLadder task: dual arm billiard bridge", |
| "DualArmRubikCube-v1": "perform the ManiLadder task: dual arm rubik cube", |
| "DualArmMahjongSetup-v1": "perform the ManiLadder task: dual arm mahjong setup", |
| "DualArmKeyboardType-v1": "perform the ManiLadder task: dual arm keyboard type", |
| "DualArmSendPingpong-v1": "perform the ManiLadder task: dual arm send pingpong", |
| "DualArmFlipTable-v1": "perform the ManiLadder task: dual arm flip table", |
| "DualArmShootBasketball-v1": "perform the ManiLadder task: dual arm shoot basketball", |
| "DualArmClothCylinderWipe-v1": "perform the ManiLadder task: dual arm cloth cylinder wipe", |
| "DualArmJumpRope-v1": "perform the ManiLadder task: dual arm jump rope", |
| "DualArmLiquidMixing-v1": "perform the ManiLadder task: dual arm liquid mixing", |
| "DualArmClothHanger-v1": "perform the ManiLadder task: dual arm cloth hanger", |
| "DualArmSandShovel-v1": "perform the ManiLadder task: dual arm sand shovel", |
| "DualArmWallRings-v1": "perform the ManiLadder task: dual arm wall rings", |
| "CoverPattern-v1": "perform the ManiLadder task: cover pattern", |
| "ClaySealStamp-v1": "perform the ManiLadder task: clay seal stamp", |
| "BuildTent-v1": "perform the ManiLadder task: build tent", |
| "WrapRope-v1": "perform the ManiLadder task: wrap rope", |
| "StampRoll-v1": "perform the ManiLadder task: stamp roll" |
| }, |
| "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": "7a96ea78deee9779f6ca47b9e92d178dffa94f346760bdc2644f951828d51d65", |
| "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": { |
| "SwingRing-v1": "level 4, 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)" |
| } |
|
|
