| { | |
| "task": "DualArmThreadRopeThroughTube-v1", | |
| "method": "PI0.5 LoRA + trainable weights", | |
| "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params", | |
| "checkpoint": "lora_step_0035000.npz", | |
| "checkpoint_sha256": "ed640c43be58457fab4969a591ef4ab14103d5553c3f363f39412e0ff47bbdd1", | |
| "checkpoint_bytes": 1867844866, | |
| "tensor_count": 51, | |
| "action_dim": 32, | |
| "state_dim": 32, | |
| "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": 35000, | |
| "eval_episodes": 50, | |
| "eval_seed_base": 1000, | |
| "norm_stats_sha256": "62084fd445a5402a2980d05e2dd0da77f8807d8c223a926a8e33c6a3a7f87394", | |
| "norm_stats_file": "norm_stats.json", | |
| "training_run": "pi05_lora_task_DualArmThreadRopeThroughTube-v1", | |
| "source_path": "maniladder/envs/deformable/dual_arm_gripper/level_3/through_tube.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." | |
| } | |