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be124b0 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 | {
"task": "DualArmSetupTable-v1",
"method": "PI0.5 LoRA + trainable weights",
"base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
"checkpoint": "lora_step_0025000.npz",
"checkpoint_sha256": "093e094f8ea395f959f4160b04c57930e33c5a3df4cc6504428a877b03a2244c",
"checkpoint_bytes": 1867992394,
"tensor_count": 51,
"action_dim": 50,
"state_dim": 50,
"action_horizon": 50,
"max_token_len": 200,
"image_size": 224,
"exec_steps": 16,
"sample_steps": 10,
"state_input": "zero vector",
"control_mode": "pd_ee_delta_pose",
"num_demos": 20,
"train_steps": 40000,
"batch_size": 64,
"selected_step": 25000,
"eval_episodes": 50,
"eval_seed_base": 1000,
"norm_stats_sha256": "7e9ff7839b9613bd12dcf34b729b78461b741eaa4f1c6a09a6fc76b1c6073ec9",
"norm_stats_file": "norm_stats.json",
"training_run": "pi05_lora_task_DualArmSetupTable-v1",
"source_path": "maniladder/envs/rigid_body/dual_arm_dex/level_3/setup_table.py",
"environment_audit": "Previously classified reusable by the 2026-10-22 audit.",
"environment_audit_limit": "Training did not preserve a complete source snapshot. Reuse was inferred from source timestamps and change review; exact source identity is not proven."
}
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