{
  "suite": "level3_from_level2",
  "method": "PI0.5 LoRA + trainable weights, multi-task; level-to-level transfer",
  "source_level": "level_2",
  "target_level": "level_3",
  "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 differs between source and target (44 -> 50): action_in_proj/kernel, action_out_proj/kernel and action_out_proj/bias were copied on the overlapping slice and the new slots initialised like a fresh Flax Linear layer; every other tensor was copied as is.",
  "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params (via the source level policy)",
  "checkpoint": "lora_step_0050000.npz",
  "checkpoint_sha256": "e70b239f67df087c387c75c92c3a6251cf8cea7b2f5ca684b3d55587f8604045",
  "checkpoint_bytes": 1867992394,
  "tensor_count": 51,
  "trainable_params": 466993954,
  "tasks": [
    "GroceryPrepare-v1",
    "Stack6Blocks-v1",
    "PushTargetPose-v1",
    "MazeBlockPush-v1",
    "TweezersPickPlace-v1",
    "ClutterGrasp-v1",
    "MobilePickPlace-v1",
    "HammerNail-v1",
    "DualArmFoldCarton-v1",
    "DualArmOpenFridge-v1",
    "DualArmAssembleBracket-v1",
    "DualArmOrganizeCabinet-v1",
    "DualArmPingpongBalance-v1",
    "DualArmSetupTable-v1",
    "DualArmMakeLine-v1",
    "DualArmPlugCharger-v1",
    "DualArmLayerClayInDish-v1",
    "DualArmThreadCloth-v1",
    "DualArmThreading-v1",
    "DualArmWeaveCloth-v1",
    "DualArmShapeDoll-v1",
    "DualArmThreadRopeThroughTube-v1",
    "HitBox-v1",
    "PressFitSoftPeg-v1",
    "LiquidMeasuring-v1",
    "SeparateTwoRopesEnv-v1"
  ],
  "num_tasks": 26,
  "prompts": {
    "GroceryPrepare-v1": "perform the ManiLadder task: grocery prepare",
    "Stack6Blocks-v1": "perform the ManiLadder task: stack6 blocks",
    "PushTargetPose-v1": "perform the ManiLadder task: push target pose",
    "MazeBlockPush-v1": "perform the ManiLadder task: maze block push",
    "TweezersPickPlace-v1": "perform the ManiLadder task: tweezers pick place",
    "ClutterGrasp-v1": "perform the ManiLadder task: clutter grasp",
    "MobilePickPlace-v1": "perform the ManiLadder task: mobile pick place",
    "HammerNail-v1": "perform the ManiLadder task: hammer nail",
    "DualArmFoldCarton-v1": "perform the ManiLadder task: dual arm fold carton",
    "DualArmOpenFridge-v1": "perform the ManiLadder task: dual arm open fridge",
    "DualArmAssembleBracket-v1": "perform the ManiLadder task: dual arm assemble bracket",
    "DualArmOrganizeCabinet-v1": "perform the ManiLadder task: dual arm organize cabinet",
    "DualArmPingpongBalance-v1": "perform the ManiLadder task: dual arm pingpong balance",
    "DualArmSetupTable-v1": "perform the ManiLadder task: dual arm setup table",
    "DualArmMakeLine-v1": "perform the ManiLadder task: dual arm make line",
    "DualArmPlugCharger-v1": "perform the ManiLadder task: dual arm plug charger",
    "DualArmLayerClayInDish-v1": "perform the ManiLadder task: dual arm layer clay in dish",
    "DualArmThreadCloth-v1": "perform the ManiLadder task: dual arm thread cloth",
    "DualArmThreading-v1": "perform the ManiLadder task: dual arm threading",
    "DualArmWeaveCloth-v1": "perform the ManiLadder task: dual arm weave cloth",
    "DualArmShapeDoll-v1": "perform the ManiLadder task: dual arm shape doll",
    "DualArmThreadRopeThroughTube-v1": "perform the ManiLadder task: dual arm thread rope through tube",
    "HitBox-v1": "perform the ManiLadder task: hit box",
    "PressFitSoftPeg-v1": "perform the ManiLadder task: press fit soft peg",
    "LiquidMeasuring-v1": "perform the ManiLadder task: liquid measuring",
    "SeparateTwoRopesEnv-v1": "perform the ManiLadder task: separate two ropes env"
  },
  "num_demos_per_task": 20,
  "action_dim": 50,
  "state_dim": 50,
  "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": "a56198ac52c8710376ba23fb17460d6ffee6e7a2c4d90b2e2f98b3d319e3e4d4",
  "norm_stats_note": "identical to multi_task/level_3/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_3: Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task, revision 1190737391cc",
  "training_data_overrides": {
    "MazeBlockPush-v1": "local demos collected 2026-09-09 after the layout-pool change (HF copy of 2026-08-28 predates the env)"
  },
  "excluded_tasks": {
    "BagHanging-v1": "level 3, excluded on request",
    "BagDropIn-v1": "level 3, excluded on request"
  },
  "eval_episodes": 50,
  "eval_seed_base": 1000,
  "evaluated_steps": [
    50000
  ],
  "campaign": "pi05_transfer_20261101",
  "trained": "2026-11-01 04:20 -> 18:17 (lyg2056)"
}