Add level1_from_level2 PI0.5 multi-task LoRA transfer (level_2 -> level_1, 28 tasks, step 50000, 28/28 tasks evaluated, mean 0.620 over 50 ep)

multi_task/level1_from_level2/eval_reports/DrapeCloth-v1.json

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+}

multi_task/level1_from_level2/eval_reports/DualArmButtonPress-v1.json

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+{
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+}

multi_task/level1_from_level2/eval_reports/DualArmCoverCloth-v1.json

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+{
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+}

multi_task/level1_from_level2/eval_reports/DualArmDoubleDoorBox-v1.json

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+{
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+}

multi_task/level1_from_level2/eval_reports/DualArmFoldHandKerchief-v1.json

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+{
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+}

multi_task/level1_from_level2/eval_reports/DualArmHammerHandover-v1.json

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multi_task/level1_from_level2/eval_reports/DualArmLiftSoftDex-v1.json

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multi_task/level1_from_level2/eval_reports/DualArmOpenPen-v1.json

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multi_task/level1_from_level2/eval_reports/DualArmOpenScissor-v1.json

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multi_task/level1_from_level2/eval_reports/DualArmPouringWater-v1.json

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multi_task/level1_from_level2/eval_reports/DualArmPressButton-v1.json

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multi_task/level1_from_level2/eval_reports/DualArmPushBox-v1.json

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multi_task/level1_from_level2/eval_reports/DualArmRopeCylinderWarpping-v1.json

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multi_task/level1_from_level2/eval_reports/DualArmRopeStretch-v1.json

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multi_task/level1_from_level2/eval_reports/DualArmSwingCup-v1.json

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multi_task/level1_from_level2/eval_reports/GraspCylinder-v1.json

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multi_task/level1_from_level2/eval_reports/LiftBucket-v1.json

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multi_task/level1_from_level2/eval_reports/OpenDoor-v1.json

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multi_task/level1_from_level2/eval_reports/PickPlacePen-v1.json

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multi_task/level1_from_level2/eval_reports/PushSoccer-v1.json

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multi_task/level1_from_level2/eval_reports/ReorientCube-v1.json

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multi_task/level1_from_level2/eval_reports/RopePalmCageHoldDex-v1.json

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multi_task/level1_from_level2/eval_reports/ShapeTToI-v1.json

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multi_task/level1_from_level2/eval_reports/SqueezeClay-v1.json

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multi_task/level1_from_level2/eval_reports/StackBlock-v1.json

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multi_task/level1_from_level2/eval_reports/StraightenRope-v1.json

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multi_task/level1_from_level2/eval_reports/TurnOnFaucet-v1.json

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multi_task/level1_from_level2/eval_reports/UnfoldShirt-v1.json

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multi_task/level1_from_level2/eval_result.json

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+      "embodiment": "rigid_body/dual_arm_dex"
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+      "baseline_success_rate": 0.48,
+      "embodiment": "deformable/dual_arm_dex"
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+      "embodiment": "deformable/single_arm_dex"
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+      "return_mean": 622.0785,
+      "baseline_success_rate": 0.4,
+      "embodiment": "deformable/single_arm_dex"
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+      "successes": 16,
+      "return_mean": -24.37622,
+      "baseline_success_rate": 0.1,
+      "embodiment": "deformable/single_arm_gripper"
+    },
+    "StraightenRope-v1": {
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+      "baseline_success_rate": 0.66,
+      "embodiment": "deformable/single_arm_gripper"
+    },
+    "UnfoldShirt-v1": {
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+      "return_mean": 0.98658,
+      "baseline_success_rate": 0.28,
+      "embodiment": "deformable/single_arm_gripper"
+    }
+  },
+  "note": "Only the final checkpoint (step 50000) was evaluated, 50 episodes per task; baseline = level_1 policy trained 80000 steps from pi05_base on the same tasks (multi_task/level_1).",
+  "campaign": "pi05_transfer_20261101"
+}

multi_task/level1_from_level2/lora_step_0050000.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d908cac219a367be30aeb3546018a3555702a66b803efd659ce2ef67e36d8da8
+size 1867943218

multi_task/level1_from_level2/metadata.json

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+{
+  "suite": "level1_from_level2",
+  "method": "PI0.5 LoRA + trainable weights, multi-task; level-to-level transfer",
+  "source_level": "level_2",
+  "target_level": "level_1",
+  "init_checkpoint": "multi_task/level_2/lora_step_0080000.npz",
+  "init_note": "All weights (base + LoRA + trainable towers) initialised from the level_2 multi-task policy at step 80000 (its full orbax params); the optimizer, warmup and cosine schedule were restarted. action_dim identical (44); every tensor copied as is.",
+  "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params (via the source level policy)",
+  "checkpoint": "lora_step_0050000.npz",
+  "checkpoint_sha256": "d908cac219a367be30aeb3546018a3555702a66b803efd659ce2ef67e36d8da8",
+  "checkpoint_bytes": 1867943218,
+  "tensor_count": 51,
+  "trainable_params": 466981660,
+  "tasks": [
+    "PushSoccer-v1",
+    "PickPlacePen-v1",
+    "OpenDoor-v1",
+    "StackBlock-v1",
+    "LiftBucket-v1",
+    "TurnOnFaucet-v1",
+    "ReorientCube-v1",
+    "GraspCylinder-v1",
+    "DualArmPushBox-v1",
+    "DualArmDoubleDoorBox-v1",
+    "DualArmButtonPress-v1",
+    "DualArmHammerHandover-v1",
+    "DualArmPressButton-v1",
+    "DualArmOpenScissor-v1",
+    "DualArmSwingCup-v1",
+    "DualArmOpenPen-v1",
+    "DualArmCoverCloth-v1",
+    "DualArmLiftSoftDex-v1",
+    "DualArmRopeStretch-v1",
+    "DualArmFoldHandKerchief-v1",
+    "DualArmPouringWater-v1",
+    "DualArmRopeCylinderWarpping-v1",
+    "DrapeCloth-v1",
+    "RopePalmCageHoldDex-v1",
+    "SqueezeClay-v1",
+    "ShapeTToI-v1",
+    "StraightenRope-v1",
+    "UnfoldShirt-v1"
+  ],
+  "num_tasks": 28,
+  "prompts": {
+    "PushSoccer-v1": "perform the ManiLadder task: push soccer",
+    "PickPlacePen-v1": "perform the ManiLadder task: pick place pen",
+    "OpenDoor-v1": "perform the ManiLadder task: open door",
+    "StackBlock-v1": "perform the ManiLadder task: stack block",
+    "LiftBucket-v1": "perform the ManiLadder task: lift bucket",
+    "TurnOnFaucet-v1": "perform the ManiLadder task: turn on faucet",
+    "ReorientCube-v1": "perform the ManiLadder task: reorient cube",
+    "GraspCylinder-v1": "perform the ManiLadder task: grasp cylinder",
+    "DualArmPushBox-v1": "perform the ManiLadder task: dual arm push box",
+    "DualArmDoubleDoorBox-v1": "perform the ManiLadder task: dual arm double door box",
+    "DualArmButtonPress-v1": "perform the ManiLadder task: dual arm button press",
+    "DualArmHammerHandover-v1": "perform the ManiLadder task: dual arm hammer handover",
+    "DualArmPressButton-v1": "perform the ManiLadder task: dual arm press button",
+    "DualArmOpenScissor-v1": "perform the ManiLadder task: dual arm open scissor",
+    "DualArmSwingCup-v1": "perform the ManiLadder task: dual arm swing cup",
+    "DualArmOpenPen-v1": "perform the ManiLadder task: dual arm open pen",
+    "DualArmCoverCloth-v1": "perform the ManiLadder task: dual arm cover cloth",
+    "DualArmLiftSoftDex-v1": "perform the ManiLadder task: dual arm lift soft dex",
+    "DualArmRopeStretch-v1": "perform the ManiLadder task: dual arm rope stretch",
+    "DualArmFoldHandKerchief-v1": "perform the ManiLadder task: dual arm fold hand kerchief",
+    "DualArmPouringWater-v1": "perform the ManiLadder task: dual arm pouring water",
+    "DualArmRopeCylinderWarpping-v1": "perform the ManiLadder task: dual arm rope cylinder warpping",
+    "DrapeCloth-v1": "perform the ManiLadder task: drape cloth",
+    "RopePalmCageHoldDex-v1": "perform the ManiLadder task: rope palm cage hold dex",
+    "SqueezeClay-v1": "perform the ManiLadder task: squeeze clay",
+    "ShapeTToI-v1": "perform the ManiLadder task: shape t to i",
+    "StraightenRope-v1": "perform the ManiLadder task: straighten rope",
+    "UnfoldShirt-v1": "perform the ManiLadder task: unfold shirt"
+  },
+  "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": 50000,
+  "batch_size": 64,
+  "lr": 5e-05,
+  "warmup_steps": 1000,
+  "lr_schedule": "cosine decay 5e-5 -> 5e-6 over all 50000 steps",
+  "data_parallel_gpus": 8,
+  "gpu": "NVIDIA A100 80GB",
+  "fsdp_devices": 1,
+  "online_eval": false,
+  "norm_stats_file": "norm_stats.json",
+  "norm_stats_sha256": "2ee8037535393988cf87ad99254ae9b551e025a441d7eab261139ec9ca6393f2",
+  "norm_stats_note": "identical to multi_task/level_1/norm_stats.json: quantile stats of the target level, computed per dimension while ignoring padded (all-zero) action/state dimensions",
+  "training_data": "same dataset as multi_task/level_1: Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task, revision 1190737391cc",
+  "training_data_overrides": {
+    "DualArmOpenScissor-v1": "local demos collected 2026-10-22 (HF copy of 2026-06-11 predates the env)"
+  },
+  "excluded_tasks": {},
+  "eval_episodes": 50,
+  "eval_seed_base": 1000,
+  "evaluated_steps": [
+    50000
+  ],
+  "campaign": "pi05_transfer_20261101",
+  "trained": "2026-11-01 04:20 -> 18:28 (lyg2122)"
+}

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