Linslab/ManiLadder_PI05_Models

ManiLadder PI0.5 LoRA models

single_task

One PI0.5 LoRA checkpoint per ManiLadder task (60 tasks), each finetuned on that task's 20 demos. For every task, all saved checkpoints (steps 5k–40k, every 5k) were re-evaluated for 50 episodes with fixed episode seeds 1000–1049 (identical across checkpoints of a task), and the checkpoint with the highest success rate is published here (ties → earliest step).

Each single_task/<task>/ folder contains:

• lora_step_XXXXXXX.npz — LoRA + trainable weights
• norm_stats.json — normalization statistics used in training
• eval_result.json — 50-episode evaluation of this checkpoint

single_task/results.csv lists the selected checkpoint per task; single_task/all_checkpoints_eval.csv has the 50-episode result of every evaluated checkpoint (477 total).

Evaluation: exec_steps=16, sample_steps=10. Tasks whose checkpoints all scored 0/50 are still included; for them the step choice is arbitrary.

task	level	step	success (50 ep)
DualArmButtonPress-v1	1	5000	0.98
DualArmCoverCloth-v1	1	15000	0.80
DualArmFoldHandKerchief-v1	1	5000	0.74
DualArmOpenPen-v1	1	35000	0.36
DualArmRopeCylinderWarpping-v1	1	10000	0.62
DualArmRopeStretch-v1	1	10000	0.92
GraspCylinder-v1	1	15000	0.94
LiftBucket-v1	1	40000	0.96
OpenDoor-v1	1	5000	0.30
PickPlacePen-v1	1	20000	0.36
PushSoccer-v1	1	40000	0.80
RopePalmCageHoldDex-v1	1	5000	0.94
TurnOnFaucet-v1	1	10000	0.92
ClothWipe-v1	2	25000	0.52
DualArmClothAlign-v1	2	40000	0.38
DualArmOpenBottle-v1	2	30000	0.06
DualArmOpenLaptop-v1	2	25000	0.42
DualArmPegInHole-v1	2	5000	0.18
DualArmPlaceRopeOverRod-v1	2	40000	0.46
DualArmStuffCloth-v1	2	15000	0.40
DualArmThrowBlock-v1	2	5000	0.00
FoldShirt-v1	2	40000	0.72
GraspTwoBlocks-v1	2	5000	0.72
HammerNailOut-v1	2	40000	0.44
HangMug-v1	2	10000	0.70
KitAssembly-v1	2	15000	0.06
PivotBook-v1	2	15000	0.38
ReorientPen-v1	2	25000	0.38
RollingPin-v1	2	25000	0.96
StraightenTwoRopesSequential-v1	2	15000	0.36
DualArmOpenFridge-v1	3	5000	0.00
DualArmPingpongBalance-v1	3	15000	0.20
DualArmSetupTable-v1	3	25000	0.04
DualArmShapeDoll-v1	3	30000	0.04
DualArmThreadRopeThroughTube-v1	3	35000	0.16
DualArmWeaveCloth-v1	3	20000	0.32
HammerNail-v1	3	35000	0.12
HitBox-v1	3	25000	0.06
LiquidMeasuring-v1	3	35000	0.32
MobilePickPlace-v1	3	15000	0.08
Stack6Blocks-v1	3	5000	0.00
TweezersPickPlace-v1	3	5000	0.00
BuildTent-v1	4	10000	0.06
DualArmBallClassify-v1	4	10000	0.00
DualArmBilliardBridge-v1	4	5000	0.00
DualArmClothHanger-v1	4	5000	0.00
DualArmFlipTable-v1	4	5000	0.00
DualArmJumpRope-v1	4	20000	0.02
DualArmKeyboardType-v1	4	5000	0.00
DualArmMahjongSetup-v1	4	5000	0.02
DualArmSendPingpong-v1	4	40000	0.08
DualArmShootBasketball-v1	4	5000	0.00
FitnessBall-v1	4	5000	0.00
FlipPan-v1	4	40000	0.04
HitBilliard-v1	4	5000	0.00
PingPongBallTransport-v1	4	40000	0.16
RingTossing-v1	4	5000	0.00
RodThroughHoles-v1	4	5000	0.02
SpinPenHora-v1	4	5000	0.00
TennisRally-v1	4	15000	0.06