pi0.5 fold-freeform fit tests on the eval_gating recipe: cam6d + wrist6d data configs, cam-frame train_viz evaluator, CPU norm-stats + 2xH200 train launchers (flat 5e-5)

[aidang3019]

No description provided.

[aidang3019]

Stacked on aidan/eval_gating. pi0.5 fit tests on the mecka freeform folding_clothes set (462 eps / 10.45 h) with a held-out-operator split (31 operators / 10.2 % of frames): cam-frame 6D vs wrist-frame 6D vs a new 138-D MANO-keypoint action path.

• fold-freeform-frames: cam6d/wrist6d data configs, cam-frame train_viz evaluator, CPU norm-stats + 2xH200 launchers.
• fold-freeform-keypoints: keypoints_wristframe_pi transform (+ cartesian ee_pose prompt proprio), HumanBimanualKeypoints converter, PI resizes the openpi action projections for action_dim != 32, keypoint evaluator/viz, opsplit configs, palm-origin offline evaluator (PIEvalKeypointPalm) and eval-only launchers.
  Runs: 12707852 (wrist) / 12707853 (cam) / 12707854 (keypoints) on PACE; W&B rl2-group/zarr_test *_fold_clothes_freeform_fit_test_flat5e-5_opsplit.
  Path-matched offline result at epoch 99: palm-origin cam-frame MSE 2.80e-3 (wrist) / 2.89e-3 (cam) / 2.87e-3 (keypoints) m2 - parity within 3 %.

🤖 Generated with Claude Code

https://claude.ai/code/session_012AaLp3ZC4xVapZZvE5Pd4Z

[aidang3019]

Warning

This pull request is not mergeable via GitHub because a downstack PR is open. Once all requirements are satisfied, merge this PR as a stack on Graphite.
Learn more

• pi0.5 keypoint action path + held-out-operator split for the fold-freeform fit tests: keypoints_wristframe_pi transform (138-D wrist-first keypoints + cartesian ee_pose prompt proprio), HumanBimanualKeypoints converter, PI resizes openpi action projection #603
• pi0.5 fold-freeform fit tests on the eval_gating recipe: cam6d + wrist6d data configs, cam-frame train_viz evaluator, CPU norm-stats + 2xH200 train launchers (flat 5e-5) #602 👈 (View in Graphite)
• split val metrics/viz #501 : 1 other dependent PR (#502 )
• 6D pi data transform #487 : 2 other dependent PRs (#486 , #500 )
• Fix PI0.5 raw rotation action encoding #483
• feat(zarr): persist camera intrinsics in zarr.json #386 : 1 other dependent PR (#482 )
• main

This stack of pull requests is managed by Graphite. Learn more about stacking.