{
  "suite": "level2_from_level1",
  "method": "PI0.5 LoRA + trainable weights, multi-task; level-to-level transfer",
  "source_level": "level_1",
  "target_level": "level_2",
  "init_checkpoint": "multi_task/level_1/lora_step_0080000.npz",
  "init_note": "All weights (base + LoRA + trainable towers) initialised from the level_1 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": "65cb58a221346f46bd2b33758e2a12c53714d43bfba4c8788c9cde0b62b666fb",
  "checkpoint_bytes": 1867943218,
  "tensor_count": 51,
  "trainable_params": 466981660,
  "tasks": [
    "HangMug-v1",
    "PivotBook-v1",
    "OpenBoxRetrieval-v1",
    "KitAssembly-v1",
    "GraspTwoBlocks-v1",
    "ReorientPen-v1",
    "DexOpenDoor-v1",
    "HammerNailOut-v1",
    "DualArmLiftBall-v1",
    "DualArmBookPickPlace-v1",
    "DualArmPegInHole-v1",
    "DualArmCleanupPotEnv-v1",
    "DualArmOpenLaptop-v1",
    "DualArmThrowBlock-v1",
    "DualArmJugglingBall-v1",
    "DualArmOpenBottle-v1",
    "DualArmPlaceRopeOverRod-v1",
    "DualArmStuffCloth-v1",
    "DualArmPouringTwoCups-v1",
    "DualArmClothAlign-v1",
    "DualArmPushObject-v1",
    "DualArmStraightenRope-v1",
    "ClothWipe-v1",
    "RollingPin-v1",
    "RopeBridgeDex-v1",
    "FoldShirt-v1",
    "ScoopWater-v1",
    "StraightenTwoRopesSequential-v1"
  ],
  "num_tasks": 28,
  "prompts": {
    "HangMug-v1": "perform the ManiLadder task: hang mug",
    "PivotBook-v1": "perform the ManiLadder task: pivot book",
    "OpenBoxRetrieval-v1": "perform the ManiLadder task: open box retrieval",
    "KitAssembly-v1": "perform the ManiLadder task: kit assembly",
    "GraspTwoBlocks-v1": "perform the ManiLadder task: grasp two blocks",
    "ReorientPen-v1": "perform the ManiLadder task: reorient pen",
    "DexOpenDoor-v1": "perform the ManiLadder task: dex open door",
    "HammerNailOut-v1": "perform the ManiLadder task: hammer nail out",
    "DualArmLiftBall-v1": "perform the ManiLadder task: dual arm lift ball",
    "DualArmBookPickPlace-v1": "perform the ManiLadder task: dual arm book pick place",
    "DualArmPegInHole-v1": "perform the ManiLadder task: dual arm peg in hole",
    "DualArmCleanupPotEnv-v1": "perform the ManiLadder task: dual arm cleanup pot env",
    "DualArmOpenLaptop-v1": "perform the ManiLadder task: dual arm open laptop",
    "DualArmThrowBlock-v1": "perform the ManiLadder task: dual arm throw block",
    "DualArmJugglingBall-v1": "perform the ManiLadder task: dual arm juggling ball",
    "DualArmOpenBottle-v1": "perform the ManiLadder task: dual arm open bottle",
    "DualArmPlaceRopeOverRod-v1": "perform the ManiLadder task: dual arm place rope over rod",
    "DualArmStuffCloth-v1": "perform the ManiLadder task: dual arm stuff cloth",
    "DualArmPouringTwoCups-v1": "perform the ManiLadder task: dual arm pouring two cups",
    "DualArmClothAlign-v1": "perform the ManiLadder task: dual arm cloth align",
    "DualArmPushObject-v1": "perform the ManiLadder task: dual arm push object",
    "DualArmStraightenRope-v1": "perform the ManiLadder task: dual arm straighten rope",
    "ClothWipe-v1": "perform the ManiLadder task: cloth wipe",
    "RollingPin-v1": "perform the ManiLadder task: rolling pin",
    "RopeBridgeDex-v1": "perform the ManiLadder task: rope bridge dex",
    "FoldShirt-v1": "perform the ManiLadder task: fold shirt",
    "ScoopWater-v1": "perform the ManiLadder task: scoop water",
    "StraightenTwoRopesSequential-v1": "perform the ManiLadder task: straighten two ropes sequential"
  },
  "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": "dd578f246b55ab92eff2f93926ef0d006826ba53fbe4fa1d4e592c0f4d28af45",
  "norm_stats_note": "identical to multi_task/level_2/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_2: Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task, revision 1190737391cc",
  "training_data_overrides": {},
  "excluded_tasks": {},
  "eval_episodes": 50,
  "eval_seed_base": 1000,
  "evaluated_steps": [
    50000
  ],
  "campaign": "pi05_transfer_20261101",
  "trained": "2026-11-01 04:20 -> 18:16 (lyg2119)"
}