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Add level2_single_arm_from_dual_arm (suite transfer: level2_single_arm tasks from the final level2_dual_arm policy, 50k further steps; evaluation pending)

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Files changed (7) hide show
  1. multi_task/level2_single_arm_from_dual_arm/lora_step_0010000.npz +3 -0
  2. multi_task/level2_single_arm_from_dual_arm/lora_step_0020000.npz +3 -0
  3. multi_task/level2_single_arm_from_dual_arm/lora_step_0030000.npz +3 -0
  4. multi_task/level2_single_arm_from_dual_arm/lora_step_0040000.npz +3 -0
  5. multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz +3 -0
  6. multi_task/level2_single_arm_from_dual_arm/metadata.json +267 -0
  7. multi_task/level2_single_arm_from_dual_arm/norm_stats.json +376 -0
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+ {
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+ "suite": "level2_single_arm_from_dual_arm",
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+ "suite_id": "x_dual2single",
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+ "description": "level2_single_arm tasks, initialised from the final level2_dual_arm policy (suite transfer), 50k further steps",
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+ "campaign": "pi05_lv2xfer_20261101",
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+ "tasks": [
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+ "HangMug-v1",
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+ "PivotBook-v1",
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+ "OpenBoxRetrieval-v1",
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+ "KitAssembly-v1",
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+ "FoldShirt-v1",
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+ "ScoopWater-v1",
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+ "StraightenTwoRopesSequential-v1",
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+ "GraspTwoBlocks-v1",
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+ "ReorientPen-v1",
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+ "DexOpenDoor-v1",
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+ "HammerNailOut-v1",
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+ "ClothWipe-v1",
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+ "RollingPin-v1",
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+ "RopeBridgeDex-v1"
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+ ],
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+ "experiment": "suite transfer: continue the finished level-2 subset policy of another grouping on this suite's tasks",
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+ "method": "PI0.5 LoRA + trainable weights, multi-task (one policy for all tasks in the suite)",
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+ "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
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+ "init_from": {
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+ "suite": "level2_dual_arm",
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+ "campaign": "pi05_lv2sub_20261029",
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+ "commit": "e8d4dfc8d2ca304c81fd25d637a3ac512f257701",
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+ "npz": "multi_task/level2_dual_arm/lora_step_0050000.npz",
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+ "npz_sha256": "14bf21db6b8c8d2d9027d2cc20035bb1cca3e663e2bdf25b6fddc0777ebc4555",
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+ "local_params": "/mnt1/Object_World_Dataset/gck_pi05_lv2sub/checkpoints/maniladder_pi05_lora/pi05_lora_l2dual/50000/params",
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+ "mean_success_rate_on_own_tasks": 0.11999999999999998,
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+ "note": "training started from ALL parameters of the final level2_dual_arm checkpoint (= pi05_base + its lora_step_0050000.npz trainable tensors), i.e. LoRA and the trained vision/action layers continue from that policy; optimizer state and lr schedule restart"
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+ },
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+ "target_suite": "level2_single_arm",
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+ "source_suite": "level2_dual_arm",
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+ "checkpoints": [
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+ "file": "lora_step_0010000.npz",
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+ "step": 10000,
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+ "tensor_count": 51,
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+ "action_dim": 44,
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+ "state_dim": 44,
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+ "action_dim_note": "44 = union of all level-2 embodiments (dual-arm dexterous); narrower embodiments are zero-padded",
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+ "max_token_len": 200,
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+ "image_size": 224,
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+ "control_mode": "pd_ee_delta_pose",
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+ "state_input": "zero vector",
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+ "cameras": [
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+ "missing_right_wrist_image": "zeros",
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+ "num_demos_per_task": 20,
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+ "train_steps": 50000,
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+ "lr": 5e-05,
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+ "warmup_steps": 1000,
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+ "lr_schedule": "cosine decay over all 50000 steps to 5e-6 (fresh schedule, not a continuation of the source run)",
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+ "data_parallel": "pure data parallel (fsdp_devices=1), 4-8 GPUs, global batch 64",
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+ "norm_stats_file": "norm_stats.json",
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+ "norm_stats_note": "the level2_single_arm statistics of pi05_lv2sub_20261029 (same frames); padded dims repaired",
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+ "training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task (14 tasks, 280 episodes, 115379 frames)",
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+ "FoldShirt-v1": {
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+ "path": "maniladder/envs/deformable/single_arm_gripper/level_2/fold_shirt.py",
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+ "sha256": "7e6a310b17fbec618f3026aefdd7e0aa2b2ae3fda1202d37fb3ff156ab2ba7fd",
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+ "level": "level_2",
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+ "category": "deformable/single_arm_gripper",
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+ "robot_camera",
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+ null
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+ "ScoopWater-v1": {
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+ "sha256": "250d33381060b9e4f0f0e2b3f38fd3e365872ee159fbeeee6f66de5a64a3d167",
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+ "ClothWipe-v1": {
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+ "RopeBridgeDex-v1": {
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+ "path": "maniladder/envs/deformable/single_arm_dex/level_2/rope_bridge.py",
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+ "selection": "final checkpoint only (no checkpoint selection)",
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+ "eval_status": "pending (eval_result.json and eval_reports/ are added when the 50-episode sweep finishes)"
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+ }
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