| { |
| "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", |
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| "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, |
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| "evaluated_steps": [ |
| 5000, |
| 10000, |
| 15000, |
| 20000, |
| 25000, |
| 30000, |
| 35000, |
| 40000 |
| ], |
| "missing_eval_steps": [], |
| "selection": "highest evaluated success rate, then earliest step", |
| "missing_right_wrist_image": null |
| } |
|
|
