| { |
| "task": "ClutterGrasp-v1", |
| "method": "PI0.5 LoRA + trainable weights", |
| "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params", |
| "checkpoint": "lora_step_0015000.npz", |
| "checkpoint_sha256": "7b97fd0147a1f783091bba9e8625f1d04d7a2f7c20f825a417304fffe9f8954f", |
| "checkpoint_bytes": 1867844866, |
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| "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": "8bcc862fbb400ffd8012af75dd4113081e93c9257d35405c7beb3c09961a59dc", |
| "source_path": "maniladder/envs/rigid_body/single_arm_dex/level_3/clutter_grasp.py", |
| "source_sha256": "bbc82523f27e726bd8bbee444de8653524ead930dc92f77557319156089398a1", |
| "campaign": "pi05_hf21_20261025", |
| "selected_step": 15000, |
| "success_rate": 0.16, |
| "eval_episodes": 50, |
| "eval_seed_base": 1000, |
| "evaluated_steps": [ |
| 5000, |
| 10000, |
| 15000, |
| 20000, |
| 25000, |
| 30000, |
| 35000, |
| 40000 |
| ], |
| "missing_eval_steps": [], |
| "selection": "highest evaluated success rate, then earliest step", |
| "training_data": "Linslab/ManiLadder_Dataset raw/ClutterGrasp-v1 (20 demos, downloaded 2026-10-25/28)", |
| "missing_right_wrist_image": "zeros" |
| } |
|
|
