Add level2_deformable_from_rigid (suite transfer: level2_deformable tasks from the final level2_rigid policy, 50k further steps; evaluation pending)

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multi_task/level2_deformable_from_rigid/metadata.json

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+{
+ "suite": "level2_deformable_from_rigid",
+ "suite_id": "x_rigid2deform",
+ "description": "level2_deformable tasks, initialised from the final level2_rigid policy (suite transfer), 50k further steps",
+ "campaign": "pi05_lv2xfer_20261101",
+ "tasks": [
+  "FoldShirt-v1",
+  "ScoopWater-v1",
+  "StraightenTwoRopesSequential-v1",
+  "ClothWipe-v1",
+  "RollingPin-v1",
+  "RopeBridgeDex-v1",
+  "DualArmClothAlign-v1",
+  "DualArmPushObject-v1",
+  "DualArmStraightenRope-v1",
+  "DualArmPlaceRopeOverRod-v1",
+  "DualArmStuffCloth-v1",
+  "DualArmPouringTwoCups-v1"
+ ],
+ "experiment": "suite transfer: continue the finished level-2 subset policy of another grouping on this suite's tasks",
+ "method": "PI0.5 LoRA + trainable weights, multi-task (one policy for all tasks in the suite)",
+ "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
+ "init_from": {
+  "suite": "level2_rigid",
+  "campaign": "pi05_lv2sub_20261029",
+  "commit": "6418366a27087db3f6b1bbabcb3aea6beca649e4",
+  "npz": "multi_task/level2_rigid/lora_step_0050000.npz",
+  "npz_sha256": "51fd5f209443986f40ff7168b3ebde67465ffc8ce9f4b0b763f48f1be5534ec6",
+  "local_params": "/mnt1/Object_World_Dataset/gck_pi05_lv2sub/checkpoints/maniladder_pi05_lora/pi05_lora_l2rigid/50000/params",
+  "mean_success_rate_on_own_tasks": 0.17250000000000004,
+  "note": "training started from ALL parameters of the final level2_rigid 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"
+ },
+ "target_suite": "level2_deformable",
+ "source_suite": "level2_rigid",
+ "checkpoints": [
+  {
+   "file": "lora_step_0010000.npz",
+   "step": 10000,
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+ ],
+ "evaluated_checkpoint": "lora_step_0050000.npz",
+ "tensor_count": 51,
+ "action_dim": 44,
+ "state_dim": 44,
+ "action_dim_note": "44 = union of all level-2 embodiments (dual-arm dexterous); narrower embodiments are zero-padded",
+ "action_horizon": 50,
+ "max_token_len": 200,
+ "image_size": 224,
+ "exec_steps": 16,
+ "sample_steps": 10,
+ "control_mode": "pd_ee_delta_pose",
+ "state_input": "zero vector",
+ "cameras": [
+  "front_camera",
+  "robot_camera",
+  "robot_camera_0",
+  "robot_camera_1"
+ ],
+ "missing_right_wrist_image": "zeros",
+ "num_demos_per_task": 20,
+ "train_episodes": 240,
+ "train_frames": 94166,
+ "train_steps": 50000,
+ "batch_size": 64,
+ "lr": 5e-05,
+ "warmup_steps": 1000,
+ "lr_schedule": "cosine decay over all 50000 steps to 5e-6 (fresh schedule, not a continuation of the source run)",
+ "data_parallel": "pure data parallel (fsdp_devices=1), 4-8 GPUs, global batch 64",
+ "norm_stats_file": "norm_stats.json",
+ "norm_stats_sha256": "54e87241dfddc4a1ac0b306dbac306ac745ed0e95b6cf0b41d6ce4767f6ace95",
+ "norm_stats_note": "the level2_deformable statistics of pi05_lv2sub_20261029 (same frames); padded dims repaired",
+ "training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task (12 tasks, 240 episodes, 94166 frames)",
+ "task_sources": {
+  "FoldShirt-v1": {
+   "path": "maniladder/envs/deformable/single_arm_gripper/level_2/fold_shirt.py",
+   "sha256": "7e6a310b17fbec618f3026aefdd7e0aa2b2ae3fda1202d37fb3ff156ab2ba7fd",
+   "level": "level_2",
+   "category": "deformable/single_arm_gripper",
+   "cameras": [
+    "front_camera",
+    "robot_camera",
+    null
+   ]
+  },
+  "ScoopWater-v1": {
+   "path": "maniladder/envs/deformable/single_arm_gripper/level_2/scoop_water.py",
+   "sha256": "250d33381060b9e4f0f0e2b3f38fd3e365872ee159fbeeee6f66de5a64a3d167",
+   "level": "level_2",
+   "category": "deformable/single_arm_gripper",
+   "cameras": [
+    "front_camera",
+    "robot_camera",
+    null
+   ]
+  },
+  "StraightenTwoRopesSequential-v1": {
+   "path": "maniladder/envs/deformable/single_arm_gripper/level_2/straighten_two_rope.py",
+   "sha256": "7c5a2e562811d68514a730933f5d15c132fb007f0c29ce299e8b111a60abb1ab",
+   "level": "level_2",
+   "category": "deformable/single_arm_gripper",
+   "cameras": [
+    "front_camera",
+    "robot_camera",
+    null
+   ]
+  },
+  "ClothWipe-v1": {
+   "path": "maniladder/envs/deformable/single_arm_dex/level_2/cloth_wipe.py",
+   "sha256": "45ce8bb2815accba3fae96c9411bc24a4c176607691392b121c31c75ebf6d9e4",
+   "level": "level_2",
+   "category": "deformable/single_arm_dex",
+   "cameras": [
+    "front_camera",
+    "robot_camera",
+    null
+   ]
+  },
+  "RollingPin-v1": {
+   "path": "maniladder/envs/deformable/single_arm_dex/level_2/rooling_pin.py",
+   "sha256": "b8d9b39ad2753b9e8f97b8d9117ba1c1c6c16005d90cbab3c8fa30505b4fb62f",
+   "level": "level_2",
+   "category": "deformable/single_arm_dex",
+   "cameras": [
+    "front_camera",
+    "robot_camera",
+    null
+   ]
+  },
+  "RopeBridgeDex-v1": {
+   "path": "maniladder/envs/deformable/single_arm_dex/level_2/rope_bridge.py",
+   "sha256": "bdae492d46519fea218838c421eb3217df1dea4ecd0ec2358df099f4dfc2765f",
+   "level": "level_2",
+   "category": "deformable/single_arm_dex",
+   "cameras": [
+    "front_camera",
+    "robot_camera",
+    null
+   ]
+  },
+  "DualArmClothAlign-v1": {
+   "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/cloth_align.py",
+   "sha256": "9f65e9339bd9b64ab708a1acfbf5780c14c0ab553ef0d83ba4cfe32b5a987748",
+   "level": "level_2",
+   "category": "deformable/dual_arm_gripper",
+   "cameras": [
+    "front_camera",
+    "robot_camera_0",
+    "robot_camera_1"
+   ]
+  },
+  "DualArmPushObject-v1": {
+   "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/push_object.py",
+   "sha256": "3f0cf62ba9ad3f2b6e93d3808fd68b11a810ed6b7eedea063c922059afbc5ab6",
+   "level": "level_2",
+   "category": "deformable/dual_arm_gripper",
+   "cameras": [
+    "front_camera",
+    "robot_camera_0",
+    "robot_camera_1"
+   ]
+  },
+  "DualArmStraightenRope-v1": {
+   "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/straighten_rope_dual.py",
+   "sha256": "fae8f4feb83db36e70574f232d3c6faab0d7fbc43a5dac2cb13fd8bc13207314",
+   "level": "level_2",
+   "category": "deformable/dual_arm_gripper",
+   "cameras": [
+    "front_camera",
+    "robot_camera_0",
+    "robot_camera_1"
+   ]
+  },
+  "DualArmPlaceRopeOverRod-v1": {
+   "path": "maniladder/envs/deformable/dual_arm_dex/level_2/drape_rope.py",
+   "sha256": "670f1e36c3cd79cbce17b8e6a6fd5edd57816b15dcd8aad748be5a669b8fe14c",
+   "level": "level_2",
+   "category": "deformable/dual_arm_dex",
+   "cameras": [
+    "front_camera",
+    "robot_camera_0",
+    "robot_camera_1"
+   ]
+  },
+  "DualArmStuffCloth-v1": {
+   "path": "maniladder/envs/deformable/dual_arm_dex/level_2/stuff_cloth.py",
+   "sha256": "5b93ca100fb7b035fa07f9c334e1dce162baf7915a1bbf56cae0f1d78f5d56f8",
+   "level": "level_2",
+   "category": "deformable/dual_arm_dex",
+   "cameras": [
+    "front_camera",
+    "robot_camera_0",
+    "robot_camera_1"
+   ]
+  },
+  "DualArmPouringTwoCups-v1": {
+   "path": "maniladder/envs/deformable/dual_arm_dex/level_2/water_cup.py",
+   "sha256": "4ac7b0bf11eecec6703389831a8711f66875b4dbfedbe6ab8a5faf04ceb9281d",
+   "level": "level_2",
+   "category": "deformable/dual_arm_dex",
+   "cameras": [
+    "front_camera",
+    "robot_camera_0",
+    "robot_camera_1"
+   ]
+  }
+ },
+ "eval_episodes": 50,
+ "eval_seed_base": 1000,
+ "evaluated_steps": [
+  50000
+ ],
+ "selection": "final checkpoint only (no checkpoint selection)",
+ "eval_status": "pending (eval_result.json and eval_reports/ are added when the 50-episode sweep finishes)"
+}

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