pi05 LoRA: 21 new single-task checkpoints (90 total); refresh README + results.csv
Browse files- pi05_lora/README.md +49 -55
- pi05_lora/results.csv +97 -76
pi05_lora/README.md
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# ManiLadder — PI0.5 LoRA checkpoints
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LoRA fine-tunes of `pi05_base` on [ManiLadder](https://huggingface.co/datasets/Linslab/ManiLadder_Dataset).
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Only the **best-scoring checkpoint of each run** is published here.
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Two groups, kept in separate directories:
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| directory | what | runs |
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| `pi05_lora/single_task/<Task>-v1/` | one LoRA per task |
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| `pi05_lora/suite/<level>_<embodiment>/` | one LoRA per (level, embodiment) suite,
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`results.csv`
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## Training setup (identical for both groups)
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| optimizer | AdamW, lr 5e-5 cosine (1k warmup, 30k decay to 5e-6), grad-clip 1.0 |
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| batch / hardware | 64 on a single A100-80GB, `fsdp_devices=1` |
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| steps | 40 000, online eval every 5 000 steps × 20 episodes |
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| observations | 3 × 224×224 RGB
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| proprioception | **none** — `observation.state` is written as zeros by design
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| action | flattened and padded to 32 dims (44 for dual-arm dexterous-hand tasks), horizon 50 |
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## File format
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Each `lora_step_<step>.npz` is the **trainable slice** of that checkpoint — a flat
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npz whose keys are nnx parameter paths joined with `/` (51 tensors, ~1.87 GB;
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most of it is the fully-trained SigLIP tower, which is why it is not adapter-sized).
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```python
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import numpy as np
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w["action_out_proj/kernel"] # -> (1024, 32) or (1024, 44)
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```
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These weights are **not self-contained**: merge them onto `pi05_base` to get a
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runnable policy. `eval_log.txt` next to each file is the run's own evaluation log
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(`step=<n> metrics={...}`, one line per online eval).
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## Choosing a checkpoint
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The step in each filename is that run's **best** online eval, which is usually not
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the last step: of the 68 single-task runs that finished 40k steps, only 7 peaked at
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40k, and the mean drop from peak to step 40 000 is 0.095 success. Every file here is
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already the peak one.
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## Single-task results
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Peak = best of 8 online evals, 20 episodes each.
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Mean peak 0.388, median 0.25; 13 tasks ≥ 0.80, 17 tasks at 0.00.
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| level | tasks | mean peak | ≥0.50 | =0.00 |
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|---|---|---|---|---|
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| L1 |
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| L2 |
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| L3 |
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| L4 |
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Success falls monotonically with the ManiLadder level
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task ever reached 0.50** — 20-demo LoRA fine-tuning works at levels 1–2 and breaks
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down above that.
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| task | level | embodiment | peak | step | final |
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| `RopePalmCageHoldDex-v1` | L1 | single_arm_dex | **1.00** | 10000 | 1.00 |
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| `DualArmButtonPress-v1` | L1 | dual_arm_gripper | **0.95** | 15000 | 0.70 |
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| `DualArmFoldHandKerchief-v1` | L1 | dual_arm_gripper | **0.95** | 5000 | 0.70 |
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| `TurnOnFaucet-v1` | L1 | single_arm_dex | **0.95** | 40000 | 0.95 |
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| `GraspCylinder-v1` | L1 | single_arm_dex | **0.90** | 10000 | 0.85 |
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| `RollingPin-v1` | L2 | single_arm_dex | **0.90** | 35000 | 0.75 |
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| `DualArmDoubleDoorBox-v1` | L1 | dual_arm_gripper | **0.85** | 35000 | 0.70 |
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| `PushSoccer-v1` | L1 | single_arm_gripper | **0.85** | 25000 | 0.70 |
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| `HangMug-v1` | L2 | single_arm_gripper | **0.80** | 5000 | 0.70 |
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| `DualArmBookPickPlace-v1` | L2 | dual_arm_gripper | **0.75** | 25000 | 0.65 |
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| `DualArmCoverCloth-v1` | L1 | dual_arm_dex | **0.75** | 15000 | 0.40 |
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| `OpenDoor-v1` | L1 | single_arm_gripper | **0.75** | 20000 | 0.60 |
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| `DualArmHammerHandover-v1` | L1 | dual_arm_gripper | **0.70** | 20000 | 0.35 |
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| `DualArmRopeCylinderWarpping-v1` | L1 | dual_arm_gripper | **0.70** | 30000 | 0.60 |
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| `StackBlock-v1` | L1 | single_arm_gripper | **0.65** | 25000 | 0.45 |
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| `DualArmLiftBall-v1` | L2 | dual_arm_gripper | **0.60** | 40000 | 0.60 |
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| `GraspTwoBlocks-v1` | L2 | single_arm_dex | **0.60** | 10000 | 0.40 |
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| `HammerNailOut-v1` | L2 | single_arm_dex | **0.55** | 35000 | 0.35 |
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| `PickPlacePen-v1` | L1 | single_arm_gripper | **0.55** | 20000 | 0.45 |
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| `StraightenRope-v1` | L1 | single_arm_gripper | **0.55** | 40000 | 0.55 |
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| `DualArmOpenLaptop-v1` | L2 | dual_arm_dex | **0.45** | 25000 | 0.25 |
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| `DualArmPushBox-v1` | L1 | dual_arm_gripper | **0.45** | 5000 | 0.15 |
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| `ReorientPen-v1` | L2 | single_arm_dex | **0.45** | 30000 | 0.40 |
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| `DualArmClothAlign-v1` | L2 | dual_arm_gripper | **0.40** | 25000 | 0.35 |
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| `PivotBook-v1` | L2 | single_arm_gripper | **0.40** | 10000 | 0.10 |
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| `ClutterGrasp-v1` | L3 | single_arm_dex | **0.25** | 25000 | 0.25 |
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| `DualArmFoldCarton-v1` | L3 | dual_arm_gripper | **0.25** | 40000 | 0.25 |
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| `DualArmPegInHole-v1` | L2 | dual_arm_gripper | **0.25** | 5000 | 0.05 |
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| `DualArmSetupTable-v1` | L3 | dual_arm_dex | **0.15** | 25000 | 0.00 |
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| `DualArmStraightenRope-v1` | L2 | dual_arm_gripper | **0.15** | 30000 | 0.05 |
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| `DualArmSwingCup-v1` | L1 | dual_arm_dex | **0.15** | 40000 | 0.15 |
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| `HammerNail-v1` | L3 | single_arm_dex | **0.15** | 10000 | 0.15 |
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| `DualArmOpenBottle-v1` | L2 | dual_arm_dex | **0.10** | 30000 | 0.05 |
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| `DualArmOpenScissor-v1` | L1 | dual_arm_dex | **0.10** | 30000 | 0.00 |
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| `KitAssembly-v1` | L2 | single_arm_gripper | **0.10** | 15000 | 0.00 |
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| `PingPongBallTransport-v1` | L4 | single_arm_gripper | **0.10** | 25000 | 0.05 |
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| `TennisRally-v1` | L4 | single_arm_dex | **0.10** | 15000 | 0.00 |
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| `FlipPan-v1` | L4 | single_arm_gripper | **0.05** | 40000 | 0.05 |
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| `MobilePickPlace-v1` | L3 | single_arm_dex | **0.05** | 10000 | 0.05 |
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| `DualArmBallClassify-v1` | L4 | dual_arm_gripper | **0.00** | 10000 | 0.00 |
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| `DualArmBilliardBridge-v1` | L4 | dual_arm_gripper | **0.00** | 5000 | 0.00 |
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| `DualArmKeyboardType-v1` | L4 | dual_arm_dex | **0.00** | 5000 | 0.00 |
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| `DualArmMahjongSetup-v1` | L4 | dual_arm_gripper | **0.00** | 10000 | 0.00 |
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| `DualArmMakeLine-v1` | L3 | dual_arm_dex | **0.00** | 5000 | 0.00 |
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| `DualArmOpenFridge-v1` | L3 | dual_arm_gripper | **0.00** | 5000 | 0.00 |
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| `DualArmPlugCharger-v1` | L3 | dual_arm_dex | **0.00** | 5000 | 0.00 |
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| `DualArmShootBasketball-v1` | L4 | dual_arm_dex | **0.00** | 5000 | 0.00 |
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| `DualArmThrowBlock-v1` | L2 | dual_arm_dex | **0.00** | 5000 | 0.00 |
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| `FitnessBall-v1` | L4 | single_arm_dex | **0.00** | 5000 | 0.00 |
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| `PushTargetPose-v1` | L3 | single_arm_gripper | **0.00** | 5000 | 0.00 |
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| `RingTossing-v1` | L4 | single_arm_gripper | **0.00** | 5000 | 0.00 |
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| `RodThroughHoles-v1` | L4 | single_arm_dex | **0.00** | 5000 | 0.00 |
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| `Stack6Blocks-v1` | L3 | single_arm_gripper | **0.00** | 5000 | 0.00 |
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| `TweezersPickPlace-v1` | L3 | single_arm_dex | **0.00** | 5000 | 0.00 |
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Scores are the suite mean over its 4 tasks.
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| suite | tasks | step | score |
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| `l1_dual_dex` | DualArmPressButton, DualArmOpenScissor, DualArmSwingCup, DualArmOpenPen | 35000 | 0.265 (50 ep
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| `l2_dual_gripper` | DualArmLiftBall, DualArmPegInHole, DualArmBookPickPlace, DualArmCleanupPotEnv | 40000 | 0.230 (50 ep
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| `l2_single_dex` | ReorientPen, HammerNailOut, GraspTwoBlocks, DexOpenDoor | 40000 | 0.420 (50 ep
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| `l2_single_gripper` | HangMug, KitAssembly, PivotBook, OpenBoxRetrieval | 40000 | 0.285 (50 ep
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| `l3_single_gripper` | MazeBlockPush, GroceryPrepare, Stack6Blocks, PushTargetPose | 40000 | 0.000 (50 ep
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| `l4_single_gripper` | RingTossing, PingPongBallTransport, HitBilliard, FlipPan | 40000 | 0.000 (20 ep
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step-40000 checkpoint is published for completeness, as a negative result. The
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`l4_single_gripper` run additionally suffers a normalisation collapse: `HitBilliard-v1`
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contributes 10-dim actions against 7-dim for the other three tasks, and after padding
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one dimension is non-zero in only 626 of 47 274 frames, so `q01 == q99` in its norm
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stats and those frames normalise to ±7e5 — its training loss never falls below 2e6.
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On the 23 tasks that appear in both groups, single-task training beats suite training
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by only **+0.035** mean peak success (11 better / 6 worse / 6 tied), measured the same
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way (peak over 20-episode online evals). At 20 demos per task, joint training of 4
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tasks costs essentially nothing and gains essentially nothing.
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## Caveats
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- Online eval uses 20 episodes, so
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- Success criteria are the ones in the ManiLadder environments at the time of training
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(August 2026); a task whose criterion was later changed is not comparable.
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# ManiLadder — PI0.5 LoRA checkpoints
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LoRA fine-tunes of `pi05_base` on [ManiLadder](https://huggingface.co/datasets/Linslab/ManiLadder_Dataset). Only the **best-scoring checkpoint of each run** is published here.
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| directory | what | runs |
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| `pi05_lora/single_task/<Task>-v1/` | one LoRA per task | 90 |
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| `pi05_lora/suite/<level>_<embodiment>/` | one LoRA per (level, embodiment) suite, 4 tasks jointly | 6 |
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`results.csv` lists every published checkpoint with its score.
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## Training setup (identical for both groups)
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| optimizer | AdamW, lr 5e-5 cosine (1k warmup, 30k decay to 5e-6), grad-clip 1.0 |
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| batch / hardware | 64 on a single A100-80GB, `fsdp_devices=1` |
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| steps | 40 000, online eval every 5 000 steps × 20 episodes |
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| observations | 3 × 224×224 RGB; right wrist is a zero image for single-arm tasks |
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| proprioception | **none** — `observation.state` is written as zeros by design; these policies are vision-only |
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| action | flattened and padded to 32 dims (44 for dual-arm dexterous-hand tasks), horizon 50 |
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## File format
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Each `lora_step_<step>.npz` is the **trainable slice** of that checkpoint — a flat npz whose keys are nnx parameter paths joined with `/` (51 tensors, ~1.87 GB; most of it is the fully-trained SigLIP tower, which is why it is not adapter-sized).
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```python
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import numpy as np
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w["action_out_proj/kernel"] # -> (1024, 32) or (1024, 44)
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```
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These weights are **not self-contained**: merge them onto `pi05_base` to get a runnable policy. `eval_log.txt` next to each file is that run's own evaluation log.
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## Choosing a checkpoint
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The step in each filename is that run's **best** online eval, which is usually not the last step: of the 90 single-task runs that reached 40k steps, only 9 peaked at 40k, and the mean drop from peak to step 40 000 is 0.083 success. Every file here is already the peak one.
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## Single-task results
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Peak = best of 8 online evals, 20 episodes each. Mean peak 0.362, median 0.25; 15 tasks ≥ 0.80, 23 tasks at 0.00.
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| level | tasks | mean peak | ≥0.50 | =0.00 |
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| L1 | 26 | 0.731 | 22 | 0 |
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| L2 | 26 | 0.400 | 9 | 2 |
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| L3 | 20 | 0.130 | 1 | 9 |
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| L4 | 18 | 0.031 | 0 | 12 |
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Success falls monotonically with the ManiLadder level (0.73 → 0.40 → 0.13 → 0.03): 20-demo LoRA fine-tuning works at levels 1–2 and largely breaks down above that.
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| task | level | embodiment | peak | step | final |
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| `RopePalmCageHoldDex-v1` | L1 | single_arm_dex | **1.00** | 10000 | 1.00 |
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| `DualArmButtonPress-v1` | L1 | dual_arm_gripper | **0.95** | 15000 | 0.70 |
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| `DualArmFoldHandKerchief-v1` | L1 | dual_arm_gripper | **0.95** | 5000 | 0.70 |
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| `DualArmPouringWater-v1` | L1 | dual_arm_gripper | **0.95** | 30000 | 0.85 |
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| `TurnOnFaucet-v1` | L1 | single_arm_dex | **0.95** | 40000 | 0.95 |
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| `GraspCylinder-v1` | L1 | single_arm_dex | **0.90** | 10000 | 0.85 |
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| `RollingPin-v1` | L2 | single_arm_dex | **0.90** | 35000 | 0.75 |
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| `DualArmDoubleDoorBox-v1` | L1 | dual_arm_gripper | **0.85** | 35000 | 0.70 |
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| `FoldShirt-v1` | L2 | single_arm_gripper | **0.85** | 15000 | 0.65 |
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| `PushSoccer-v1` | L1 | single_arm_gripper | **0.85** | 25000 | 0.70 |
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| `HangMug-v1` | L2 | single_arm_gripper | **0.80** | 5000 | 0.70 |
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| `DualArmBookPickPlace-v1` | L2 | dual_arm_gripper | **0.75** | 25000 | 0.65 |
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| `DualArmCoverCloth-v1` | L1 | dual_arm_dex | **0.75** | 15000 | 0.40 |
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| `DualArmPlaceRopeOverRod-v1` | L2 | dual_arm_dex | **0.75** | 30000 | 0.70 |
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| `OpenDoor-v1` | L1 | single_arm_gripper | **0.75** | 20000 | 0.60 |
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| `DualArmHammerHandover-v1` | L1 | dual_arm_gripper | **0.70** | 20000 | 0.35 |
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| `DualArmRopeCylinderWarpping-v1` | L1 | dual_arm_gripper | **0.70** | 30000 | 0.60 |
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| `StackBlock-v1` | L1 | single_arm_gripper | **0.65** | 25000 | 0.45 |
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| `DualArmLiftBall-v1` | L2 | dual_arm_gripper | **0.60** | 40000 | 0.60 |
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| `GraspTwoBlocks-v1` | L2 | single_arm_dex | **0.60** | 10000 | 0.40 |
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| `MazeBlockPush-v1` [^1] | L3 | single_arm_gripper | **0.60** | 40000 | 0.60 |
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| `HammerNailOut-v1` | L2 | single_arm_dex | **0.55** | 35000 | 0.35 |
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| `PickPlacePen-v1` | L1 | single_arm_gripper | **0.55** | 20000 | 0.45 |
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| `StraightenRope-v1` | L1 | single_arm_gripper | **0.55** | 40000 | 0.55 |
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| `DualArmOpenLaptop-v1` | L2 | dual_arm_dex | **0.45** | 25000 | 0.25 |
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| `DualArmPushBox-v1` | L1 | dual_arm_gripper | **0.45** | 5000 | 0.15 |
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| `ReorientPen-v1` | L2 | single_arm_dex | **0.45** | 30000 | 0.40 |
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| `UnfoldShirt-v1` | L1 | single_arm_gripper | **0.45** | 15000 | 0.30 |
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| `DualArmClothAlign-v1` | L2 | dual_arm_gripper | **0.40** | 25000 | 0.35 |
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| `DualArmStuffCloth-v1` | L2 | dual_arm_dex | **0.40** | 15000 | 0.15 |
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| `LiquidMeasuring-v1` | L3 | single_arm_gripper | **0.40** | 25000 | 0.20 |
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| `PivotBook-v1` | L2 | single_arm_gripper | **0.40** | 10000 | 0.10 |
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| `ClothWipe-v1` | L2 | single_arm_dex | **0.35** | 10000 | 0.20 |
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+
| `DualArmWeaveCloth-v1` | L3 | dual_arm_gripper | **0.35** | 20000 | 0.25 |
|
| 101 |
+
| `StraightenTwoRopesSequential-v1` | L2 | single_arm_gripper | **0.30** | 10000 | 0.05 |
|
| 102 |
| `ClutterGrasp-v1` | L3 | single_arm_dex | **0.25** | 25000 | 0.25 |
|
| 103 |
| `DualArmFoldCarton-v1` | L3 | dual_arm_gripper | **0.25** | 40000 | 0.25 |
|
| 104 |
| `DualArmPegInHole-v1` | L2 | dual_arm_gripper | **0.25** | 5000 | 0.05 |
|
|
|
|
| 110 |
| `DualArmSetupTable-v1` | L3 | dual_arm_dex | **0.15** | 25000 | 0.00 |
|
| 111 |
| `DualArmStraightenRope-v1` | L2 | dual_arm_gripper | **0.15** | 30000 | 0.05 |
|
| 112 |
| `DualArmSwingCup-v1` | L1 | dual_arm_dex | **0.15** | 40000 | 0.15 |
|
| 113 |
+
| `DualArmThreadRopeThroughTube-v1` | L3 | dual_arm_gripper | **0.15** | 5000 | 0.10 |
|
| 114 |
| `HammerNail-v1` | L3 | single_arm_dex | **0.15** | 10000 | 0.15 |
|
| 115 |
+
| `BuildTent-v1` | L4 | single_arm_gripper | **0.10** | 5000 | 0.00 |
|
| 116 |
| `DualArmOpenBottle-v1` | L2 | dual_arm_dex | **0.10** | 30000 | 0.05 |
|
| 117 |
| `DualArmOpenScissor-v1` | L1 | dual_arm_dex | **0.10** | 30000 | 0.00 |
|
| 118 |
| `KitAssembly-v1` | L2 | single_arm_gripper | **0.10** | 15000 | 0.00 |
|
| 119 |
| `PingPongBallTransport-v1` | L4 | single_arm_gripper | **0.10** | 25000 | 0.05 |
|
| 120 |
| `TennisRally-v1` | L4 | single_arm_dex | **0.10** | 15000 | 0.00 |
|
| 121 |
+
| `DualArmJugglingBall-v1` | L2 | dual_arm_dex | **0.05** | 30000 | 0.05 |
|
| 122 |
+
| `DualArmJumpRope-v1` | L4 | dual_arm_dex | **0.05** | 40000 | 0.05 |
|
| 123 |
| `FlipPan-v1` | L4 | single_arm_gripper | **0.05** | 40000 | 0.05 |
|
| 124 |
+
| `HitBox-v1` | L3 | single_arm_dex | **0.05** | 20000 | 0.05 |
|
| 125 |
| `MobilePickPlace-v1` | L3 | single_arm_dex | **0.05** | 10000 | 0.05 |
|
| 126 |
| `DualArmBallClassify-v1` | L4 | dual_arm_gripper | **0.00** | 10000 | 0.00 |
|
| 127 |
| `DualArmBilliardBridge-v1` | L4 | dual_arm_gripper | **0.00** | 5000 | 0.00 |
|
| 128 |
+
| `DualArmClothHanger-v1` | L4 | dual_arm_gripper | **0.00** | 5000 | 0.00 |
|
| 129 |
+
| `DualArmFlipTable-v1` | L4 | dual_arm_dex | **0.00** | 5000 | 0.00 |
|
| 130 |
| `DualArmKeyboardType-v1` | L4 | dual_arm_dex | **0.00** | 5000 | 0.00 |
|
| 131 |
| `DualArmMahjongSetup-v1` | L4 | dual_arm_gripper | **0.00** | 10000 | 0.00 |
|
| 132 |
| `DualArmMakeLine-v1` | L3 | dual_arm_dex | **0.00** | 5000 | 0.00 |
|
| 133 |
| `DualArmOpenFridge-v1` | L3 | dual_arm_gripper | **0.00** | 5000 | 0.00 |
|
| 134 |
| `DualArmPlugCharger-v1` | L3 | dual_arm_dex | **0.00** | 5000 | 0.00 |
|
| 135 |
+
| `DualArmPushObject-v1` | L2 | dual_arm_gripper | **0.00** | 5000 | 0.00 |
|
| 136 |
+
| `DualArmShapeDoll-v1` | L3 | dual_arm_gripper | **0.00** | 5000 | 0.00 |
|
| 137 |
| `DualArmShootBasketball-v1` | L4 | dual_arm_dex | **0.00** | 5000 | 0.00 |
|
| 138 |
| `DualArmThrowBlock-v1` | L2 | dual_arm_dex | **0.00** | 5000 | 0.00 |
|
| 139 |
| `FitnessBall-v1` | L4 | single_arm_dex | **0.00** | 5000 | 0.00 |
|
|
|
|
| 142 |
| `PushTargetPose-v1` | L3 | single_arm_gripper | **0.00** | 5000 | 0.00 |
|
| 143 |
| `RingTossing-v1` | L4 | single_arm_gripper | **0.00** | 5000 | 0.00 |
|
| 144 |
| `RodThroughHoles-v1` | L4 | single_arm_dex | **0.00** | 5000 | 0.00 |
|
| 145 |
+
| `SeparateTwoRopesEnv-v1` | L3 | single_arm_gripper | **0.00** | 5000 | 0.00 |
|
| 146 |
+
| `SpinPenHora-v1` | L4 | single_arm_dex | **0.00** | 5000 | 0.00 |
|
| 147 |
| `Stack6Blocks-v1` | L3 | single_arm_gripper | **0.00** | 5000 | 0.00 |
|
| 148 |
| `TweezersPickPlace-v1` | L3 | single_arm_dex | **0.00** | 5000 | 0.00 |
|
| 149 |
|
| 150 |
+
[^1]: `MazeBlockPush-v1` — this score was obtained with a **seeded** maze pool (collection and evaluation drew the same 20 mazes from `MAZE_LAYOUT_SEED=2025`), and with a fixed ball start. The environment has since been changed so the maze pool is drawn from OS entropy on every construction, making train and eval mazes independent; the checkpoint published here is not comparable to results from the current environment.
|
| 151 |
|
| 152 |
+
## Suite (multi-task) results
|
|
|
|
| 153 |
|
| 154 |
| suite | tasks | step | score |
|
| 155 |
|---|---|---|---|
|
| 156 |
+
| `l1_dual_dex` | DualArmPressButton, DualArmOpenScissor, DualArmSwingCup, DualArmOpenPen | 35000 | 0.265 (50 ep) |
|
| 157 |
+
| `l2_dual_gripper` | DualArmLiftBall, DualArmPegInHole, DualArmBookPickPlace, DualArmCleanupPotEnv | 40000 | 0.230 (50 ep) |
|
| 158 |
+
| `l2_single_dex` | ReorientPen, HammerNailOut, GraspTwoBlocks, DexOpenDoor | 40000 | 0.420 (50 ep) |
|
| 159 |
+
| `l2_single_gripper` | HangMug, KitAssembly, PivotBook, OpenBoxRetrieval | 40000 | 0.285 (50 ep) |
|
| 160 |
+
| `l3_single_gripper` | MazeBlockPush, GroceryPrepare, Stack6Blocks, PushTargetPose | 40000 | 0.000 (50 ep) |
|
| 161 |
+
| `l4_single_gripper` | RingTossing, PingPongBallTransport, HitBilliard, FlipPan | 40000 | 0.000 (20 ep) |
|
| 162 |
+
|
| 163 |
+
On the 24 tasks present in both groups, single-task training beats suite training by **+0.053** mean peak success (12 better / 6 worse / 6 tied), measured the same way (peak over 20-episode online evals). At 20 demos per task, joint training of 4 tasks costs essentially nothing and gains essentially nothing.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
|
| 165 |
## Caveats
|
| 166 |
|
| 167 |
+
- Online eval uses 20 episodes, so score granularity is 0.05. Repeated 50-episode offline evals of the same checkpoint differ by up to 0.03. Do not read rank differences of one or two positions as real.
|
| 168 |
+
- Success criteria are the ones in the ManiLadder environments at training time (August–September 2026). A task whose criterion or randomisation was later changed is not comparable — see the footnotes above.
|
| 169 |
+
- `l4_single_gripper` suffers a normalisation collapse: `HitBilliard-v1` contributes 10-dim actions against 7-dim for its three suite-mates, and after padding one dimension is non-zero in only 626 of 47 274 frames, so `q01 == q99` in its norm stats and those frames normalise to ±7e5. Its training loss never falls below 2e6.
|
|
|
|
|
|
pi05_lora/results.csv
CHANGED
|
@@ -1,76 +1,97 @@
|
|
| 1 |
-
group,name,level,embodiment,category,checkpoint_step,peak_success,final_success_40k,file
|
| 2 |
-
single_task,DrapeCloth-v1,level_1,single_arm_dex,deformable,5000,1.00,0.95,pi05_lora/single_task/DrapeCloth-v1/lora_step_0005000.npz
|
| 3 |
-
single_task,DualArmRopeStretch-v1,level_1,dual_arm_dex,deformable,10000,1.00,1.00,pi05_lora/single_task/DualArmRopeStretch-v1/lora_step_0010000.npz
|
| 4 |
-
single_task,LiftBucket-v1,level_1,single_arm_dex,rigid_body,10000,1.00,0.85,pi05_lora/single_task/LiftBucket-v1/lora_step_0010000.npz
|
| 5 |
-
single_task,ReorientCube-v1,level_1,single_arm_dex,rigid_body,30000,1.00,0.90,pi05_lora/single_task/ReorientCube-v1/lora_step_0030000.npz
|
| 6 |
-
single_task,RopePalmCageHoldDex-v1,level_1,single_arm_dex,deformable,10000,1.00,1.00,pi05_lora/single_task/RopePalmCageHoldDex-v1/lora_step_0010000.npz
|
| 7 |
-
single_task,DualArmButtonPress-v1,level_1,dual_arm_gripper,rigid_body,15000,0.95,0.70,pi05_lora/single_task/DualArmButtonPress-v1/lora_step_0015000.npz
|
| 8 |
-
single_task,DualArmFoldHandKerchief-v1,level_1,dual_arm_gripper,deformable,5000,0.95,0.70,pi05_lora/single_task/DualArmFoldHandKerchief-v1/lora_step_0005000.npz
|
| 9 |
-
single_task,
|
| 10 |
-
single_task,
|
| 11 |
-
single_task,
|
| 12 |
-
single_task,
|
| 13 |
-
single_task,
|
| 14 |
-
single_task,
|
| 15 |
-
single_task,
|
| 16 |
-
single_task,
|
| 17 |
-
single_task,
|
| 18 |
-
single_task,
|
| 19 |
-
single_task,
|
| 20 |
-
single_task,
|
| 21 |
-
single_task,
|
| 22 |
-
single_task,
|
| 23 |
-
single_task,
|
| 24 |
-
single_task,
|
| 25 |
-
single_task,
|
| 26 |
-
single_task,
|
| 27 |
-
single_task,
|
| 28 |
-
single_task,
|
| 29 |
-
single_task,
|
| 30 |
-
single_task,
|
| 31 |
-
single_task,
|
| 32 |
-
single_task,
|
| 33 |
-
single_task,
|
| 34 |
-
single_task,
|
| 35 |
-
single_task,
|
| 36 |
-
single_task,
|
| 37 |
-
single_task,
|
| 38 |
-
single_task,
|
| 39 |
-
single_task,
|
| 40 |
-
single_task,
|
| 41 |
-
single_task,
|
| 42 |
-
single_task,
|
| 43 |
-
single_task,
|
| 44 |
-
single_task,
|
| 45 |
-
single_task,
|
| 46 |
-
single_task,
|
| 47 |
-
single_task,
|
| 48 |
-
single_task,
|
| 49 |
-
single_task,
|
| 50 |
-
single_task,
|
| 51 |
-
single_task,
|
| 52 |
-
single_task,
|
| 53 |
-
single_task,
|
| 54 |
-
single_task,
|
| 55 |
-
single_task,
|
| 56 |
-
single_task,
|
| 57 |
-
single_task,
|
| 58 |
-
single_task,
|
| 59 |
-
single_task,
|
| 60 |
-
single_task,
|
| 61 |
-
single_task,
|
| 62 |
-
single_task,
|
| 63 |
-
single_task,
|
| 64 |
-
single_task,
|
| 65 |
-
single_task,
|
| 66 |
-
single_task,
|
| 67 |
-
single_task,
|
| 68 |
-
single_task,
|
| 69 |
-
single_task,
|
| 70 |
-
single_task,
|
| 71 |
-
|
| 72 |
-
|
| 73 |
-
|
| 74 |
-
|
| 75 |
-
|
| 76 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
group,name,level,embodiment,category,checkpoint_step,peak_success,final_success_40k,file,note
|
| 2 |
+
single_task,DrapeCloth-v1,level_1,single_arm_dex,deformable,5000,1.00,0.95,pi05_lora/single_task/DrapeCloth-v1/lora_step_0005000.npz,
|
| 3 |
+
single_task,DualArmRopeStretch-v1,level_1,dual_arm_dex,deformable,10000,1.00,1.00,pi05_lora/single_task/DualArmRopeStretch-v1/lora_step_0010000.npz,
|
| 4 |
+
single_task,LiftBucket-v1,level_1,single_arm_dex,rigid_body,10000,1.00,0.85,pi05_lora/single_task/LiftBucket-v1/lora_step_0010000.npz,
|
| 5 |
+
single_task,ReorientCube-v1,level_1,single_arm_dex,rigid_body,30000,1.00,0.90,pi05_lora/single_task/ReorientCube-v1/lora_step_0030000.npz,
|
| 6 |
+
single_task,RopePalmCageHoldDex-v1,level_1,single_arm_dex,deformable,10000,1.00,1.00,pi05_lora/single_task/RopePalmCageHoldDex-v1/lora_step_0010000.npz,
|
| 7 |
+
single_task,DualArmButtonPress-v1,level_1,dual_arm_gripper,rigid_body,15000,0.95,0.70,pi05_lora/single_task/DualArmButtonPress-v1/lora_step_0015000.npz,
|
| 8 |
+
single_task,DualArmFoldHandKerchief-v1,level_1,dual_arm_gripper,deformable,5000,0.95,0.70,pi05_lora/single_task/DualArmFoldHandKerchief-v1/lora_step_0005000.npz,
|
| 9 |
+
single_task,DualArmPouringWater-v1,level_1,dual_arm_gripper,deformable,30000,0.95,0.85,pi05_lora/single_task/DualArmPouringWater-v1/lora_step_0030000.npz,
|
| 10 |
+
single_task,TurnOnFaucet-v1,level_1,single_arm_dex,rigid_body,40000,0.95,0.95,pi05_lora/single_task/TurnOnFaucet-v1/lora_step_0040000.npz,
|
| 11 |
+
single_task,GraspCylinder-v1,level_1,single_arm_dex,rigid_body,10000,0.90,0.85,pi05_lora/single_task/GraspCylinder-v1/lora_step_0010000.npz,
|
| 12 |
+
single_task,RollingPin-v1,level_2,single_arm_dex,deformable,35000,0.90,0.75,pi05_lora/single_task/RollingPin-v1/lora_step_0035000.npz,
|
| 13 |
+
single_task,DualArmDoubleDoorBox-v1,level_1,dual_arm_gripper,rigid_body,35000,0.85,0.70,pi05_lora/single_task/DualArmDoubleDoorBox-v1/lora_step_0035000.npz,
|
| 14 |
+
single_task,FoldShirt-v1,level_2,single_arm_gripper,deformable,15000,0.85,0.65,pi05_lora/single_task/FoldShirt-v1/lora_step_0015000.npz,
|
| 15 |
+
single_task,PushSoccer-v1,level_1,single_arm_gripper,rigid_body,25000,0.85,0.70,pi05_lora/single_task/PushSoccer-v1/lora_step_0025000.npz,
|
| 16 |
+
single_task,HangMug-v1,level_2,single_arm_gripper,rigid_body,5000,0.80,0.70,pi05_lora/single_task/HangMug-v1/lora_step_0005000.npz,
|
| 17 |
+
single_task,DualArmBookPickPlace-v1,level_2,dual_arm_gripper,rigid_body,25000,0.75,0.65,pi05_lora/single_task/DualArmBookPickPlace-v1/lora_step_0025000.npz,
|
| 18 |
+
single_task,DualArmCoverCloth-v1,level_1,dual_arm_dex,deformable,15000,0.75,0.40,pi05_lora/single_task/DualArmCoverCloth-v1/lora_step_0015000.npz,
|
| 19 |
+
single_task,DualArmPlaceRopeOverRod-v1,level_2,dual_arm_dex,deformable,30000,0.75,0.70,pi05_lora/single_task/DualArmPlaceRopeOverRod-v1/lora_step_0030000.npz,
|
| 20 |
+
single_task,OpenDoor-v1,level_1,single_arm_gripper,rigid_body,20000,0.75,0.60,pi05_lora/single_task/OpenDoor-v1/lora_step_0020000.npz,
|
| 21 |
+
single_task,DualArmHammerHandover-v1,level_1,dual_arm_gripper,rigid_body,20000,0.70,0.35,pi05_lora/single_task/DualArmHammerHandover-v1/lora_step_0020000.npz,
|
| 22 |
+
single_task,DualArmRopeCylinderWarpping-v1,level_1,dual_arm_gripper,deformable,30000,0.70,0.60,pi05_lora/single_task/DualArmRopeCylinderWarpping-v1/lora_step_0030000.npz,
|
| 23 |
+
single_task,DualArmOpenPen-v1,level_1,dual_arm_dex,rigid_body,30000,0.65,0.35,pi05_lora/single_task/DualArmOpenPen-v1/lora_step_0030000.npz,
|
| 24 |
+
single_task,DualArmPressButton-v1,level_1,dual_arm_dex,rigid_body,20000,0.65,0.45,pi05_lora/single_task/DualArmPressButton-v1/lora_step_0020000.npz,
|
| 25 |
+
single_task,StackBlock-v1,level_1,single_arm_gripper,rigid_body,25000,0.65,0.45,pi05_lora/single_task/StackBlock-v1/lora_step_0025000.npz,
|
| 26 |
+
single_task,DualArmLiftBall-v1,level_2,dual_arm_gripper,rigid_body,40000,0.60,0.60,pi05_lora/single_task/DualArmLiftBall-v1/lora_step_0040000.npz,
|
| 27 |
+
single_task,GraspTwoBlocks-v1,level_2,single_arm_dex,rigid_body,10000,0.60,0.40,pi05_lora/single_task/GraspTwoBlocks-v1/lora_step_0010000.npz,
|
| 28 |
+
single_task,MazeBlockPush-v1,level_3,single_arm_gripper,rigid_body,40000,0.60,0.60,pi05_lora/single_task/MazeBlockPush-v1/lora_step_0040000.npz,"this score was obtained with a **seeded** maze pool (collection and evaluation drew the same 20 mazes from `MAZE_LAYOUT_SEED=2025`), and with a fixed ball start. The environment has since been changed so the maze pool is drawn from OS entropy on every construction, making train and eval mazes independent; the checkpoint published here is not comparable to results from the current environment."
|
| 29 |
+
single_task,HammerNailOut-v1,level_2,single_arm_dex,rigid_body,35000,0.55,0.35,pi05_lora/single_task/HammerNailOut-v1/lora_step_0035000.npz,
|
| 30 |
+
single_task,PickPlacePen-v1,level_1,single_arm_gripper,rigid_body,20000,0.55,0.45,pi05_lora/single_task/PickPlacePen-v1/lora_step_0020000.npz,
|
| 31 |
+
single_task,StraightenRope-v1,level_1,single_arm_gripper,deformable,40000,0.55,0.55,pi05_lora/single_task/StraightenRope-v1/lora_step_0040000.npz,
|
| 32 |
+
single_task,DualArmCleanupPotEnv-v1,level_2,dual_arm_gripper,rigid_body,35000,0.50,0.50,pi05_lora/single_task/DualArmCleanupPotEnv-v1/lora_step_0035000.npz,
|
| 33 |
+
single_task,ShapeTToI-v1,level_1,single_arm_gripper,deformable,15000,0.50,0.35,pi05_lora/single_task/ShapeTToI-v1/lora_step_0015000.npz,
|
| 34 |
+
single_task,DualArmOpenLaptop-v1,level_2,dual_arm_dex,rigid_body,25000,0.45,0.25,pi05_lora/single_task/DualArmOpenLaptop-v1/lora_step_0025000.npz,
|
| 35 |
+
single_task,DualArmPushBox-v1,level_1,dual_arm_gripper,rigid_body,5000,0.45,0.15,pi05_lora/single_task/DualArmPushBox-v1/lora_step_0005000.npz,
|
| 36 |
+
single_task,ReorientPen-v1,level_2,single_arm_dex,rigid_body,30000,0.45,0.40,pi05_lora/single_task/ReorientPen-v1/lora_step_0030000.npz,
|
| 37 |
+
single_task,UnfoldShirt-v1,level_1,single_arm_gripper,deformable,15000,0.45,0.30,pi05_lora/single_task/UnfoldShirt-v1/lora_step_0015000.npz,
|
| 38 |
+
single_task,DualArmClothAlign-v1,level_2,dual_arm_gripper,deformable,25000,0.40,0.35,pi05_lora/single_task/DualArmClothAlign-v1/lora_step_0025000.npz,
|
| 39 |
+
single_task,DualArmStuffCloth-v1,level_2,dual_arm_dex,deformable,15000,0.40,0.15,pi05_lora/single_task/DualArmStuffCloth-v1/lora_step_0015000.npz,
|
| 40 |
+
single_task,LiquidMeasuring-v1,level_3,single_arm_gripper,deformable,25000,0.40,0.20,pi05_lora/single_task/LiquidMeasuring-v1/lora_step_0025000.npz,
|
| 41 |
+
single_task,PivotBook-v1,level_2,single_arm_gripper,rigid_body,10000,0.40,0.10,pi05_lora/single_task/PivotBook-v1/lora_step_0010000.npz,
|
| 42 |
+
single_task,ClothWipe-v1,level_2,single_arm_dex,deformable,10000,0.35,0.20,pi05_lora/single_task/ClothWipe-v1/lora_step_0010000.npz,
|
| 43 |
+
single_task,DualArmWeaveCloth-v1,level_3,dual_arm_gripper,deformable,20000,0.35,0.25,pi05_lora/single_task/DualArmWeaveCloth-v1/lora_step_0020000.npz,
|
| 44 |
+
single_task,StraightenTwoRopesSequential-v1,level_2,single_arm_gripper,deformable,10000,0.30,0.05,pi05_lora/single_task/StraightenTwoRopesSequential-v1/lora_step_0010000.npz,
|
| 45 |
+
single_task,ClutterGrasp-v1,level_3,single_arm_dex,rigid_body,25000,0.25,0.25,pi05_lora/single_task/ClutterGrasp-v1/lora_step_0025000.npz,
|
| 46 |
+
single_task,DualArmFoldCarton-v1,level_3,dual_arm_gripper,rigid_body,40000,0.25,0.25,pi05_lora/single_task/DualArmFoldCarton-v1/lora_step_0040000.npz,
|
| 47 |
+
single_task,DualArmPegInHole-v1,level_2,dual_arm_gripper,rigid_body,5000,0.25,0.05,pi05_lora/single_task/DualArmPegInHole-v1/lora_step_0005000.npz,
|
| 48 |
+
single_task,OpenBoxRetrieval-v1,level_2,single_arm_gripper,rigid_body,20000,0.25,0.15,pi05_lora/single_task/OpenBoxRetrieval-v1/lora_step_0020000.npz,
|
| 49 |
+
single_task,ScoopWater-v1,level_2,single_arm_gripper,deformable,20000,0.25,0.15,pi05_lora/single_task/ScoopWater-v1/lora_step_0020000.npz,
|
| 50 |
+
single_task,DexOpenDoor-v1,level_2,single_arm_dex,rigid_body,40000,0.20,0.20,pi05_lora/single_task/DexOpenDoor-v1/lora_step_0040000.npz,
|
| 51 |
+
single_task,DualArmPingpongBalance-v1,level_3,dual_arm_dex,rigid_body,20000,0.20,0.20,pi05_lora/single_task/DualArmPingpongBalance-v1/lora_step_0020000.npz,
|
| 52 |
+
single_task,DualArmSendPingpong-v1,level_4,dual_arm_dex,rigid_body,35000,0.15,0.00,pi05_lora/single_task/DualArmSendPingpong-v1/lora_step_0035000.npz,
|
| 53 |
+
single_task,DualArmSetupTable-v1,level_3,dual_arm_dex,rigid_body,25000,0.15,0.00,pi05_lora/single_task/DualArmSetupTable-v1/lora_step_0025000.npz,
|
| 54 |
+
single_task,DualArmStraightenRope-v1,level_2,dual_arm_gripper,deformable,30000,0.15,0.05,pi05_lora/single_task/DualArmStraightenRope-v1/lora_step_0030000.npz,
|
| 55 |
+
single_task,DualArmSwingCup-v1,level_1,dual_arm_dex,rigid_body,40000,0.15,0.15,pi05_lora/single_task/DualArmSwingCup-v1/lora_step_0040000.npz,
|
| 56 |
+
single_task,DualArmThreadRopeThroughTube-v1,level_3,dual_arm_gripper,deformable,5000,0.15,0.10,pi05_lora/single_task/DualArmThreadRopeThroughTube-v1/lora_step_0005000.npz,
|
| 57 |
+
single_task,HammerNail-v1,level_3,single_arm_dex,rigid_body,10000,0.15,0.15,pi05_lora/single_task/HammerNail-v1/lora_step_0010000.npz,
|
| 58 |
+
single_task,BuildTent-v1,level_4,single_arm_gripper,deformable,5000,0.10,0.00,pi05_lora/single_task/BuildTent-v1/lora_step_0005000.npz,
|
| 59 |
+
single_task,DualArmOpenBottle-v1,level_2,dual_arm_dex,rigid_body,30000,0.10,0.05,pi05_lora/single_task/DualArmOpenBottle-v1/lora_step_0030000.npz,
|
| 60 |
+
single_task,DualArmOpenScissor-v1,level_1,dual_arm_dex,rigid_body,30000,0.10,0.00,pi05_lora/single_task/DualArmOpenScissor-v1/lora_step_0030000.npz,
|
| 61 |
+
single_task,KitAssembly-v1,level_2,single_arm_gripper,rigid_body,15000,0.10,0.00,pi05_lora/single_task/KitAssembly-v1/lora_step_0015000.npz,
|
| 62 |
+
single_task,PingPongBallTransport-v1,level_4,single_arm_gripper,rigid_body,25000,0.10,0.05,pi05_lora/single_task/PingPongBallTransport-v1/lora_step_0025000.npz,
|
| 63 |
+
single_task,TennisRally-v1,level_4,single_arm_dex,rigid_body,15000,0.10,0.00,pi05_lora/single_task/TennisRally-v1/lora_step_0015000.npz,
|
| 64 |
+
single_task,DualArmJugglingBall-v1,level_2,dual_arm_dex,rigid_body,30000,0.05,0.05,pi05_lora/single_task/DualArmJugglingBall-v1/lora_step_0030000.npz,
|
| 65 |
+
single_task,DualArmJumpRope-v1,level_4,dual_arm_dex,deformable,40000,0.05,0.05,pi05_lora/single_task/DualArmJumpRope-v1/lora_step_0040000.npz,
|
| 66 |
+
single_task,FlipPan-v1,level_4,single_arm_gripper,rigid_body,40000,0.05,0.05,pi05_lora/single_task/FlipPan-v1/lora_step_0040000.npz,
|
| 67 |
+
single_task,HitBox-v1,level_3,single_arm_dex,deformable,20000,0.05,0.05,pi05_lora/single_task/HitBox-v1/lora_step_0020000.npz,
|
| 68 |
+
single_task,MobilePickPlace-v1,level_3,single_arm_dex,rigid_body,10000,0.05,0.05,pi05_lora/single_task/MobilePickPlace-v1/lora_step_0010000.npz,
|
| 69 |
+
single_task,DualArmBallClassify-v1,level_4,dual_arm_gripper,rigid_body,10000,0.00,0.00,pi05_lora/single_task/DualArmBallClassify-v1/lora_step_0010000.npz,
|
| 70 |
+
single_task,DualArmBilliardBridge-v1,level_4,dual_arm_gripper,rigid_body,5000,0.00,0.00,pi05_lora/single_task/DualArmBilliardBridge-v1/lora_step_0005000.npz,
|
| 71 |
+
single_task,DualArmClothHanger-v1,level_4,dual_arm_gripper,deformable,5000,0.00,0.00,pi05_lora/single_task/DualArmClothHanger-v1/lora_step_0005000.npz,
|
| 72 |
+
single_task,DualArmFlipTable-v1,level_4,dual_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/DualArmFlipTable-v1/lora_step_0005000.npz,
|
| 73 |
+
single_task,DualArmKeyboardType-v1,level_4,dual_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/DualArmKeyboardType-v1/lora_step_0005000.npz,
|
| 74 |
+
single_task,DualArmMahjongSetup-v1,level_4,dual_arm_gripper,rigid_body,10000,0.00,0.00,pi05_lora/single_task/DualArmMahjongSetup-v1/lora_step_0010000.npz,
|
| 75 |
+
single_task,DualArmMakeLine-v1,level_3,dual_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/DualArmMakeLine-v1/lora_step_0005000.npz,
|
| 76 |
+
single_task,DualArmOpenFridge-v1,level_3,dual_arm_gripper,rigid_body,5000,0.00,0.00,pi05_lora/single_task/DualArmOpenFridge-v1/lora_step_0005000.npz,
|
| 77 |
+
single_task,DualArmPlugCharger-v1,level_3,dual_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/DualArmPlugCharger-v1/lora_step_0005000.npz,
|
| 78 |
+
single_task,DualArmPushObject-v1,level_2,dual_arm_gripper,deformable,5000,0.00,0.00,pi05_lora/single_task/DualArmPushObject-v1/lora_step_0005000.npz,
|
| 79 |
+
single_task,DualArmShapeDoll-v1,level_3,dual_arm_gripper,deformable,5000,0.00,0.00,pi05_lora/single_task/DualArmShapeDoll-v1/lora_step_0005000.npz,
|
| 80 |
+
single_task,DualArmShootBasketball-v1,level_4,dual_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/DualArmShootBasketball-v1/lora_step_0005000.npz,
|
| 81 |
+
single_task,DualArmThrowBlock-v1,level_2,dual_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/DualArmThrowBlock-v1/lora_step_0005000.npz,
|
| 82 |
+
single_task,FitnessBall-v1,level_4,single_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/FitnessBall-v1/lora_step_0005000.npz,
|
| 83 |
+
single_task,GroceryPrepare-v1,level_3,single_arm_gripper,rigid_body,5000,0.00,0.00,pi05_lora/single_task/GroceryPrepare-v1/lora_step_0005000.npz,
|
| 84 |
+
single_task,HitBilliard-v1,level_4,single_arm_gripper,rigid_body,5000,0.00,0.00,pi05_lora/single_task/HitBilliard-v1/lora_step_0005000.npz,
|
| 85 |
+
single_task,PushTargetPose-v1,level_3,single_arm_gripper,rigid_body,5000,0.00,0.00,pi05_lora/single_task/PushTargetPose-v1/lora_step_0005000.npz,
|
| 86 |
+
single_task,RingTossing-v1,level_4,single_arm_gripper,rigid_body,5000,0.00,0.00,pi05_lora/single_task/RingTossing-v1/lora_step_0005000.npz,
|
| 87 |
+
single_task,RodThroughHoles-v1,level_4,single_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/RodThroughHoles-v1/lora_step_0005000.npz,
|
| 88 |
+
single_task,SeparateTwoRopesEnv-v1,level_3,single_arm_gripper,deformable,5000,0.00,0.00,pi05_lora/single_task/SeparateTwoRopesEnv-v1/lora_step_0005000.npz,
|
| 89 |
+
single_task,SpinPenHora-v1,level_4,single_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/SpinPenHora-v1/lora_step_0005000.npz,
|
| 90 |
+
single_task,Stack6Blocks-v1,level_3,single_arm_gripper,rigid_body,5000,0.00,0.00,pi05_lora/single_task/Stack6Blocks-v1/lora_step_0005000.npz,
|
| 91 |
+
single_task,TweezersPickPlace-v1,level_3,single_arm_dex,rigid_body,5000,0.00,0.00,pi05_lora/single_task/TweezersPickPlace-v1/lora_step_0005000.npz,
|
| 92 |
+
suite,l1_dual_dex,,,,35000,,,pi05_lora/suite/l1_dual_dex/lora_step_0035000.npz,
|
| 93 |
+
suite,l2_dual_gripper,,,,40000,,,pi05_lora/suite/l2_dual_gripper/lora_step_0040000.npz,
|
| 94 |
+
suite,l2_single_dex,,,,40000,,,pi05_lora/suite/l2_single_dex/lora_step_0040000.npz,
|
| 95 |
+
suite,l2_single_gripper,,,,40000,,,pi05_lora/suite/l2_single_gripper/lora_step_0040000.npz,
|
| 96 |
+
suite,l3_single_gripper,,,,40000,,,pi05_lora/suite/l3_single_gripper/lora_step_0040000.npz,
|
| 97 |
+
suite,l4_single_gripper,,,,40000,,,pi05_lora/suite/l4_single_gripper/lora_step_0040000.npz,
|