| { | |
| "task": "DualArmThrowBlock-v1", | |
| "method": "PI0.5 LoRA + trainable weights", | |
| "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params", | |
| "checkpoint": "lora_step_0005000.npz", | |
| "checkpoint_sha256": "ddc085746228651a8ef69d51c548e10e6c50ca76081808df23890913a3bf20e0", | |
| "checkpoint_bytes": 1867943218, | |
| "tensor_count": 51, | |
| "action_dim": 44, | |
| "state_dim": 44, | |
| "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": 5000, | |
| "eval_episodes": 50, | |
| "eval_seed_base": 1000, | |
| "norm_stats_sha256": "dc109157ea8ac22611196d93c02ae4d098d235f0e32e1bfb8a89cb8a616e31de", | |
| "norm_stats_file": "norm_stats.json", | |
| "training_run": "pi05_lora_task_DualArmThrowBlock-v1", | |
| "source_path": "maniladder/envs/rigid_body/dual_arm_dex/level_2/throw_ball.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." | |
| } | |