{
  "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)"
}