{
 "suite": "level2_gripper",
 "suite_id": "l2gripper",
 "description": "all level-2 gripper tasks (single-arm + dual-arm)",
 "campaign": "pi05_lv2sub_20261029",
 "tasks": [
  "HangMug-v1",
  "PivotBook-v1",
  "OpenBoxRetrieval-v1",
  "KitAssembly-v1",
  "FoldShirt-v1",
  "ScoopWater-v1",
  "StraightenTwoRopesSequential-v1",
  "DualArmLiftBall-v1",
  "DualArmBookPickPlace-v1",
  "DualArmPegInHole-v1",
  "DualArmCleanupPotEnv-v1",
  "DualArmClothAlign-v1",
  "DualArmPushObject-v1",
  "DualArmStraightenRope-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": [
  {
   "file": "lora_step_0010000.npz",
   "step": 10000,
   "sha256": "cc617fe14f184927e9138c3add7f505b7f500b729ef5c8e4c9899fd75ac9ec1b",
   "bytes": 1867943218,
   "evaluated": false
  },
  {
   "file": "lora_step_0020000.npz",
   "step": 20000,
   "sha256": "46d853c0db59dcf2e39ec4efc459faecd2bac789f81869a63fc5e7278164773f",
   "bytes": 1867943218,
   "evaluated": false
  },
  {
   "file": "lora_step_0030000.npz",
   "step": 30000,
   "sha256": "aa10bd610c81b456b52d357aec3c9dece9c50b9f749abce96c0e8b82142e2ffb",
   "bytes": 1867943218,
   "evaluated": false
  },
  {
   "file": "lora_step_0040000.npz",
   "step": 40000,
   "sha256": "7fabb7e871172c8732ddd0d35856b731490890d262e5780dc2bc3acab3d50a54",
   "bytes": 1867943218,
   "evaluated": false
  },
  {
   "file": "lora_step_0050000.npz",
   "step": 50000,
   "sha256": "33de9edb557df8fd9dbb569f7f4a97fb0e6b622ba55340543bd79a4cbe6ec62a",
   "bytes": 1867943218,
   "evaluated": true
  }
 ],
 "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": 280,
 "train_frames": 114805,
 "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": "36335ffa97f995c23c2df7fa305dea3af7e8cf6f14b2f99c40c71e2affcdc884",
 "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, 114805 frames)",
 "task_sources": {
  "HangMug-v1": {
   "path": "maniladder/envs/rigid_body/single_arm_gripper/level_2/hang_mug.py",
   "sha256": "18a95ccc658e8725d4d38a6e8f445bb8a22e6671b5647e0e49b87b14a2109f31",
   "level": "level_2",
   "category": "rigid_body/single_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "PivotBook-v1": {
   "path": "maniladder/envs/rigid_body/single_arm_gripper/level_2/pivot_book.py",
   "sha256": "b4a162f84c4c43180ea4bc6e8a98326713273b862b4e24b5f8b03d6d6c8d93cc",
   "level": "level_2",
   "category": "rigid_body/single_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "OpenBoxRetrieval-v1": {
   "path": "maniladder/envs/rigid_body/single_arm_gripper/level_2/open_box_retrieval.py",
   "sha256": "2fade45048b317313439c6f85cc569b0baeb16165f7457379c823abf63bed27b",
   "level": "level_2",
   "category": "rigid_body/single_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "KitAssembly-v1": {
   "path": "maniladder/envs/rigid_body/single_arm_gripper/level_2/kit_assembly.py",
   "sha256": "d7161b09b2a3612f099cf4281e99103afe66f65a39b25dc4f24b9a6d97ed9b2a",
   "level": "level_2",
   "category": "rigid_body/single_arm_gripper",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "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
   ]
  },
  "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"
   ]
  }
 },
 "eval_episodes": 50,
 "eval_seed_base": 1000,
 "evaluated_steps": [
  50000
 ],
 "selection": "final checkpoint only (no checkpoint selection)"
}