| { |
| "task": "BagDropIn-v1", |
| "method": "PI0.5 LoRA + trainable weights", |
| "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params", |
| "checkpoint": "lora_step_0015000.npz", |
| "checkpoint_sha256": "e259405fb2d2b7d9135235ff23e3660feaf54596b6436854dd9ad506c725be42", |
| "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, |
| "control_mode": "pd_ee_delta_pose", |
| "cameras": [ |
| "front_camera", |
| "robot_camera", |
| null |
| ], |
| "state_input": "zero vector", |
| "num_demos": 20, |
| "train_steps": 40000, |
| "batch_size": 64, |
| "norm_stats_file": "norm_stats.json", |
| "norm_stats_sha256": "f0b17a14dd6df5be77bed97ab2f05e05bb4742b666acb28b568544ed2b36fee5", |
| "source_path": "maniladder/envs/deformable/single_arm_dex/level_3/bag_drop_in.py", |
| "source_sha256": "a5a07a86026f048838c44d15814c711ab3aa6ebddba5763ab90b0c6f0d1254c8", |
| "campaign": "pi05_bagtasks_20261106", |
| "selected_step": 15000, |
| "success_rate": 0.7, |
| "eval_episodes": 50, |
| "eval_seed_base": 1000, |
| "evaluated_steps": [ |
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| 10000, |
| 15000, |
| 20000, |
| 25000, |
| 30000, |
| 35000, |
| 40000 |
| ], |
| "missing_eval_steps": [], |
| "selection": "highest evaluated success rate, then earliest step", |
| "missing_right_wrist_image": "zeros", |
| "training_data": "Linslab/ManiLadder_Dataset raw/BagDropIn-v1 (20 demos regenerated 2026-11-05 with the updated task code, maniladder release branch)" |
| } |
