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{
  "task": "DualArmPressButton-v1",
  "method": "PI0.5 LoRA + trainable weights",
  "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
  "checkpoint": "lora_step_0015000.npz",
  "checkpoint_sha256": "609e2d3373f92e3a046d28e5b00176f923df319f308e1d8681d13f2ca6676ff2",
  "checkpoint_bytes": 1867943218,
  "tensor_count": 51,
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  "state_dim": 44,
  "action_horizon": 50,
  "max_token_len": 200,
  "image_size": 224,
  "exec_steps": 16,
  "sample_steps": 10,
  "control_mode": "pd_ee_delta_pose",
  "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
  ],
  "state_input": "zero vector",
  "num_demos": 20,
  "train_steps": 40000,
  "batch_size": 64,
  "norm_stats_file": "norm_stats.json",
  "norm_stats_sha256": "1c2eac8d5740e5ba15f5cbf972c6d935432097d3bc6c697da7de6c1a50966359",
  "source_path": "maniladder/envs/rigid_body/dual_arm_dex/level_1/press_button.py",
  "source_sha256": "37d6592f6436fcb8c74daab9403b46cf1b2a5c7c490d3f7a1cf9a897dc9aacf2",
  "campaign": "pi05_retrain_eval50_20261022",
  "selected_step": 15000,
  "success_rate": 0.8,
  "eval_episodes": 50,
  "eval_seed_base": 800000,
  "evaluated_steps": [
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  ],
  "missing_eval_steps": [],
  "selection": "highest evaluated success rate, then earliest step",
  "missing_right_wrist_image": null
}