| { |
| "task": "DualArmPushBox-v1", |
| "method": "PI0.5 LoRA + trainable weights", |
| "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params", |
| "checkpoint": "lora_step_0030000.npz", |
| "checkpoint_sha256": "c6c6c64a84c3f236b9810cfb1908231384ec478163a409abae50450a0138aa7a", |
| "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_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": "6b215cc98840dab54ed7378b5d798e725b6387ee226e027df0997b296ec0397a", |
| "source_path": "maniladder/envs/rigid_body/dual_arm_gripper/level_1/push_box.py", |
| "source_sha256": "903965773c836bd0b56a87ba096b999dcea0e31c770e5ed015e1ef939096c60b", |
| "campaign": "pi05_hf21_20261025", |
| "selected_step": 30000, |
| "success_rate": 0.78, |
| "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/DualArmPushBox-v1 (20 demos, downloaded 2026-10-25/28)", |
| "missing_right_wrist_image": null |
| } |
|
|
