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

[aidang3019]

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 projections for action_dim!=32, opsplit data configs (cam6d/wrist6d/kp), keypoint evaluator/viz, norm + train launchers, CPU smoke

smoke: CPU keypoint smoke needs 1-process DDP (find_unused_parameters) — pl_model on_fit_start barriers; add working smoke_keypoints_cpu_ddp launcher

dataset v2: fold_clothes-derivative task-name rule (fold+clothes, no packaging; 492 eps / 11.2 h / 8 tasks) + operator split v2 (27 held-out ops, 8.7%)

revert dataset to folding_clothes only (v1: 462 eps / 10.45 h, operator split 25 held-out ops) per Aidan — drop the v2 task-name-rule expansion

opsplit launchers: validate every 20 epochs instead of 50 (viz still every 100, ckpt every 50)

Co-Authored-By: Claude Fable 5.1 noreply@anthropic.com
Claude-Session: https://claude.ai/code/session_012AaLp3ZC4xVapZZvE5Pd4Z

opsplit launchers: 72h wall, exclude the two thermally throttled H200 nodes

Co-Authored-By: Claude Fable 5.1 noreply@anthropic.com
Claude-Session: https://claude.ai/code/session_012AaLp3ZC4xVapZZvE5Pd4Z

opsplit: hold out a full 10% of frames by operator (was 8%)

Co-Authored-By: Claude Fable 5.1 noreply@anthropic.com
Claude-Session: https://claude.ai/code/session_012AaLp3ZC4xVapZZvE5Pd4Z

eval: palm-origin cam-frame metric for keypoint runs (PIEvalKeypointPalm) + eval-only launcher for the epoch-49 checkpoint

Co-Authored-By: Claude Fable 5.1 noreply@anthropic.com
Claude-Session: https://claude.ai/code/session_012AaLp3ZC4xVapZZvE5Pd4Z

eval launcher: typed h200 gres (untyped gres over a partition list landed on a V100)

Co-Authored-By: Claude Fable 5.1 noreply@anthropic.com
Claude-Session: https://claude.ai/code/session_012AaLp3ZC4xVapZZvE5Pd4Z

eval: offline launcher for cartesian opsplit checkpoints (same path as the keypoint palm eval)

Co-Authored-By: Claude Fable 5.1 noreply@anthropic.com
Claude-Session: https://claude.ai/code/session_012AaLp3ZC4xVapZZvE5Pd4Z

eval launcher: per-job inductor/triton cache dirs (same-node autotune race)

Co-Authored-By: Claude Fable 5.1 noreply@anthropic.com
Claude-Session: https://claude.ai/code/session_012AaLp3ZC4xVapZZvE5Pd4Z

[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]

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• 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 👈 (View in Graphite)
• 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
• 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

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