Add CoverPattern-v1 PI0.5 LoRA peak from HF-data retraining (1/50, step 30000)
Browse files- single_task/CoverPattern-v1/eval_reports/step_00005000.json +164 -0
- single_task/CoverPattern-v1/eval_reports/step_00010000.json +164 -0
- single_task/CoverPattern-v1/eval_reports/step_00015000.json +164 -0
- single_task/CoverPattern-v1/eval_reports/step_00020000.json +164 -0
- single_task/CoverPattern-v1/eval_reports/step_00025000.json +164 -0
- single_task/CoverPattern-v1/eval_reports/step_00030000.json +164 -0
- single_task/CoverPattern-v1/eval_reports/step_00035000.json +164 -0
- single_task/CoverPattern-v1/eval_reports/step_00040000.json +164 -0
- single_task/CoverPattern-v1/eval_result.json +174 -0
- single_task/CoverPattern-v1/lora_step_0030000.npz +3 -0
- single_task/CoverPattern-v1/metadata.json +49 -0
- single_task/CoverPattern-v1/norm_stats.json +280 -0
single_task/CoverPattern-v1/eval_reports/step_00005000.json
ADDED
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@@ -0,0 +1,164 @@
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{
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"task": "CoverPattern-v1",
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"step": 5000,
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"episode_seed_base": 1000
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| 164 |
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}
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single_task/CoverPattern-v1/eval_reports/step_00010000.json
ADDED
|
@@ -0,0 +1,164 @@
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| 1 |
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{
|
| 2 |
+
"task": "CoverPattern-v1",
|
| 3 |
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"step": 10000,
|
| 4 |
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"episodes": 50,
|
| 5 |
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"successes": 0,
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| 6 |
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| 7 |
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single_task/CoverPattern-v1/eval_reports/step_00015000.json
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|
single_task/CoverPattern-v1/eval_reports/step_00020000.json
ADDED
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single_task/CoverPattern-v1/eval_reports/step_00030000.json
ADDED
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single_task/CoverPattern-v1/eval_reports/step_00040000.json
ADDED
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|
| 164 |
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}
|
single_task/CoverPattern-v1/eval_result.json
ADDED
|
@@ -0,0 +1,174 @@
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{
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|
| 164 |
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"level": "level_4",
|
| 165 |
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"suite": "deformable/single_arm_dex",
|
| 166 |
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|
| 167 |
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|
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|
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|
| 170 |
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"note": "Best available 50-episode evaluation; ties broken by earliest step.",
|
| 171 |
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"campaign": "pi05_hf21_20261025",
|
| 172 |
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"training_complete": true,
|
| 173 |
+
"final_training_step": 40000
|
| 174 |
+
}
|
single_task/CoverPattern-v1/lora_step_0030000.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:0f555c7b620fa9355b6f56ee378c7531d89e630c9b6383210cdac21cd2dae020
|
| 3 |
+
size 1867844866
|
single_task/CoverPattern-v1/metadata.json
ADDED
|
@@ -0,0 +1,49 @@
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "CoverPattern-v1",
|
| 3 |
+
"method": "PI0.5 LoRA + trainable weights",
|
| 4 |
+
"base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
|
| 5 |
+
"checkpoint": "lora_step_0030000.npz",
|
| 6 |
+
"checkpoint_sha256": "0f555c7b620fa9355b6f56ee378c7531d89e630c9b6383210cdac21cd2dae020",
|
| 7 |
+
"checkpoint_bytes": 1867844866,
|
| 8 |
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"tensor_count": 51,
|
| 9 |
+
"action_dim": 32,
|
| 10 |
+
"state_dim": 32,
|
| 11 |
+
"action_horizon": 50,
|
| 12 |
+
"max_token_len": 200,
|
| 13 |
+
"image_size": 224,
|
| 14 |
+
"exec_steps": 16,
|
| 15 |
+
"sample_steps": 10,
|
| 16 |
+
"control_mode": "pd_ee_delta_pose",
|
| 17 |
+
"cameras": [
|
| 18 |
+
"front_camera",
|
| 19 |
+
"robot_camera",
|
| 20 |
+
null
|
| 21 |
+
],
|
| 22 |
+
"state_input": "zero vector",
|
| 23 |
+
"num_demos": 20,
|
| 24 |
+
"train_steps": 40000,
|
| 25 |
+
"batch_size": 64,
|
| 26 |
+
"norm_stats_file": "norm_stats.json",
|
| 27 |
+
"norm_stats_sha256": "4da49e9add9dc9f978b897d49225216b96e358ed0def55ff360a6b18f15ed899",
|
| 28 |
+
"source_path": "maniladder/envs/deformable/single_arm_dex/level_4/cover_shape.py",
|
| 29 |
+
"source_sha256": "50dc170e2bb74d07ca0abdc33b82b010f8cbca80738c88a809db12ffc795423d",
|
| 30 |
+
"campaign": "pi05_hf21_20261025",
|
| 31 |
+
"selected_step": 30000,
|
| 32 |
+
"success_rate": 0.02,
|
| 33 |
+
"eval_episodes": 50,
|
| 34 |
+
"eval_seed_base": 1000,
|
| 35 |
+
"evaluated_steps": [
|
| 36 |
+
5000,
|
| 37 |
+
10000,
|
| 38 |
+
15000,
|
| 39 |
+
20000,
|
| 40 |
+
25000,
|
| 41 |
+
30000,
|
| 42 |
+
35000,
|
| 43 |
+
40000
|
| 44 |
+
],
|
| 45 |
+
"missing_eval_steps": [],
|
| 46 |
+
"selection": "highest evaluated success rate, then earliest step",
|
| 47 |
+
"training_data": "Linslab/ManiLadder_Dataset raw/CoverPattern-v1 (20 demos, downloaded 2026-10-25/28)",
|
| 48 |
+
"missing_right_wrist_image": "zeros"
|
| 49 |
+
}
|
single_task/CoverPattern-v1/norm_stats.json
ADDED
|
@@ -0,0 +1,280 @@
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|
|
|
|
|
|
|
|
|
|
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|
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