{
 "suite": "level2_dual_arm",
 "suite_id": "l2dual",
 "description": "all level-2 dual-arm tasks (gripper + dexterous hand)",
 "campaign": "pi05_lv2sub_20261029",
 "tasks": [
  "DualArmLiftBall-v1",
  "DualArmBookPickPlace-v1",
  "DualArmPegInHole-v1",
  "DualArmCleanupPotEnv-v1",
  "DualArmClothAlign-v1",
  "DualArmPushObject-v1",
  "DualArmStraightenRope-v1",
  "DualArmOpenLaptop-v1",
  "DualArmThrowBlock-v1",
  "DualArmJugglingBall-v1",
  "DualArmOpenBottle-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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 ],
 "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_0",
  "robot_camera_1"
 ],
 "missing_right_wrist_image": "zeros",
 "num_demos_per_task": 20,
 "train_episodes": 280,
 "train_frames": 121618,
 "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": "6e3e58463d53c08f3e7bf6833d11a670c9c11198b6ed152c870c99644a7b404d",
 "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 (14 tasks, 280 episodes, 121618 frames)",
 "task_sources": {
  "DualArmLiftBall-v1": {
   "path": "maniladder/envs/rigid_body/dual_arm_gripper/level_2/lift_ball.py",
   "sha256": "0560e10a0e9d98906408f8171268cd04ce655a626f38850bca0f31bf04bd9154",
   "level": "level_2",
   "category": "rigid_body/dual_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmBookPickPlace-v1": {
   "path": "maniladder/envs/rigid_body/dual_arm_gripper/level_2/book_pick_place.py",
   "sha256": "6a92d5e17c749bacb4dbb9c0aa8b5a6b3922710a70247473846b807e71e8e7a4",
   "level": "level_2",
   "category": "rigid_body/dual_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmPegInHole-v1": {
   "path": "maniladder/envs/rigid_body/dual_arm_gripper/level_2/peg_in_hole.py",
   "sha256": "38c5217e32fae22a0fa962b54c44a42fc12cd1220060d602365b8be75f42e5ae",
   "level": "level_2",
   "category": "rigid_body/dual_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmCleanupPotEnv-v1": {
   "path": "maniladder/envs/rigid_body/dual_arm_gripper/level_2/cleanup_pot.py",
   "sha256": "279f544967eb0539e28bc8cd4063d28b80aa0fead7c0733a1787ad0fc983b155",
   "level": "level_2",
   "category": "rigid_body/dual_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "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"
   ]
  },
  "DualArmOpenLaptop-v1": {
   "path": "maniladder/envs/rigid_body/dual_arm_dex/level_2/open_laptop.py",
   "sha256": "e2c3c0714da9a484ed7a7ac3dc6374f61c7e1867167f50b37dca9845534faf93",
   "level": "level_2",
   "category": "rigid_body/dual_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmThrowBlock-v1": {
   "path": "maniladder/envs/rigid_body/dual_arm_dex/level_2/throw_ball.py",
   "sha256": "0a00a7e724272b98eb42cd58fb57f6e15756a6e115f19f320febda6dda6d7680",
   "level": "level_2",
   "category": "rigid_body/dual_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmJugglingBall-v1": {
   "path": "maniladder/envs/rigid_body/dual_arm_dex/level_2/juggle_ball.py",
   "sha256": "f5a65ccfa2d7aa379f131628849315ce1840b5e11620e5f6a86c6a3451706ed1",
   "level": "level_2",
   "category": "rigid_body/dual_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera_0",
    "robot_camera_1"
   ]
  },
  "DualArmOpenBottle-v1": {
   "path": "maniladder/envs/rigid_body/dual_arm_dex/level_2/open_bottle.py",
   "sha256": "6c492aff17adfba725a0f605df5394f4fe93e04ef122cf473a210e4a2cf84e2f",
   "level": "level_2",
   "category": "rigid_body/dual_arm_dex",
   "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)"
}