{
 "suite": "level2_deformable",
 "suite_id": "l2deform",
 "description": "all level-2 deformable-object tasks",
 "campaign": "pi05_lv2sub_20261029",
 "tasks": [
  "FoldShirt-v1",
  "ScoopWater-v1",
  "StraightenTwoRopesSequential-v1",
  "ClothWipe-v1",
  "RollingPin-v1",
  "RopeBridgeDex-v1",
  "DualArmClothAlign-v1",
  "DualArmPushObject-v1",
  "DualArmStraightenRope-v1",
  "DualArmPlaceRopeOverRod-v1",
  "DualArmStuffCloth-v1",
  "DualArmPouringTwoCups-v1"
 ],
 "method": "PI0.5 LoRA + trainable weights, multi-task (one policy for all tasks in the suite)",
 "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
 "checkpoints": [
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   "file": "lora_step_0010000.npz",
   "step": 10000,
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 ],
 "evaluated_checkpoint": "lora_step_0050000.npz",
 "tensor_count": 51,
 "action_dim": 44,
 "state_dim": 44,
 "action_dim_note": "44 = union of all level-2 embodiments (dual-arm dexterous); narrower embodiments are zero-padded, as in the level-2 dataset",
 "action_horizon": 50,
 "max_token_len": 200,
 "image_size": 224,
 "exec_steps": 16,
 "sample_steps": 10,
 "control_mode": "pd_ee_delta_pose",
 "state_input": "zero vector",
 "cameras": [
  "front_camera",
  "robot_camera",
  "robot_camera_0",
  "robot_camera_1"
 ],
 "missing_right_wrist_image": "zeros",
 "num_demos_per_task": 20,
 "train_episodes": 240,
 "train_frames": 94166,
 "train_steps": 50000,
 "batch_size": 64,
 "lr": 5e-05,
 "warmup_steps": 1000,
 "lr_schedule": "cosine decay over all 50000 steps to 5e-6",
 "data_parallel": "pure data parallel (fsdp_devices=1), 2-8 GPUs, global batch 64",
 "norm_stats_file": "norm_stats.json",
 "norm_stats_sha256": "54e87241dfddc4a1ac0b306dbac306ac745ed0e95b6cf0b41d6ce4767f6ace95",
 "norm_stats_note": "quantile stats computed on this suite's frames only; padded dims whose q01==q99 were repaired (padding-aware)",
 "training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task (12 tasks, 240 episodes, 94166 frames)",
 "task_sources": {
  "FoldShirt-v1": {
   "path": "maniladder/envs/deformable/single_arm_gripper/level_2/fold_shirt.py",
   "sha256": "7e6a310b17fbec618f3026aefdd7e0aa2b2ae3fda1202d37fb3ff156ab2ba7fd",
   "level": "level_2",
   "category": "deformable/single_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "ScoopWater-v1": {
   "path": "maniladder/envs/deformable/single_arm_gripper/level_2/scoop_water.py",
   "sha256": "250d33381060b9e4f0f0e2b3f38fd3e365872ee159fbeeee6f66de5a64a3d167",
   "level": "level_2",
   "category": "deformable/single_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "StraightenTwoRopesSequential-v1": {
   "path": "maniladder/envs/deformable/single_arm_gripper/level_2/straighten_two_rope.py",
   "sha256": "7c5a2e562811d68514a730933f5d15c132fb007f0c29ce299e8b111a60abb1ab",
   "level": "level_2",
   "category": "deformable/single_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "ClothWipe-v1": {
   "path": "maniladder/envs/deformable/single_arm_dex/level_2/cloth_wipe.py",
   "sha256": "45ce8bb2815accba3fae96c9411bc24a4c176607691392b121c31c75ebf6d9e4",
   "level": "level_2",
   "category": "deformable/single_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "RollingPin-v1": {
   "path": "maniladder/envs/deformable/single_arm_dex/level_2/rooling_pin.py",
   "sha256": "b8d9b39ad2753b9e8f97b8d9117ba1c1c6c16005d90cbab3c8fa30505b4fb62f",
   "level": "level_2",
   "category": "deformable/single_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "RopeBridgeDex-v1": {
   "path": "maniladder/envs/deformable/single_arm_dex/level_2/rope_bridge.py",
   "sha256": "bdae492d46519fea218838c421eb3217df1dea4ecd0ec2358df099f4dfc2765f",
   "level": "level_2",
   "category": "deformable/single_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "DualArmClothAlign-v1": {
   "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/cloth_align.py",
   "sha256": "9f65e9339bd9b64ab708a1acfbf5780c14c0ab553ef0d83ba4cfe32b5a987748",
   "level": "level_2",
   "category": "deformable/dual_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmPushObject-v1": {
   "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/push_object.py",
   "sha256": "3f0cf62ba9ad3f2b6e93d3808fd68b11a810ed6b7eedea063c922059afbc5ab6",
   "level": "level_2",
   "category": "deformable/dual_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmStraightenRope-v1": {
   "path": "maniladder/envs/deformable/dual_arm_gripper/level_2/straighten_rope_dual.py",
   "sha256": "fae8f4feb83db36e70574f232d3c6faab0d7fbc43a5dac2cb13fd8bc13207314",
   "level": "level_2",
   "category": "deformable/dual_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmPlaceRopeOverRod-v1": {
   "path": "maniladder/envs/deformable/dual_arm_dex/level_2/drape_rope.py",
   "sha256": "670f1e36c3cd79cbce17b8e6a6fd5edd57816b15dcd8aad748be5a669b8fe14c",
   "level": "level_2",
   "category": "deformable/dual_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmStuffCloth-v1": {
   "path": "maniladder/envs/deformable/dual_arm_dex/level_2/stuff_cloth.py",
   "sha256": "5b93ca100fb7b035fa07f9c334e1dce162baf7915a1bbf56cae0f1d78f5d56f8",
   "level": "level_2",
   "category": "deformable/dual_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmPouringTwoCups-v1": {
   "path": "maniladder/envs/deformable/dual_arm_dex/level_2/water_cup.py",
   "sha256": "4ac7b0bf11eecec6703389831a8711f66875b4dbfedbe6ab8a5faf04ceb9281d",
   "level": "level_2",
   "category": "deformable/dual_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  }
 },
 "eval_episodes": 50,
 "eval_seed_base": 1000,
 "evaluated_steps": [
  50000
 ],
 "selection": "final checkpoint only (no checkpoint selection)"
}