{
 "suite": "level2_rigid",
 "suite_id": "l2rigid",
 "description": "all level-2 rigid-body tasks",
 "campaign": "pi05_lv2sub_20261029",
 "tasks": [
  "HangMug-v1",
  "PivotBook-v1",
  "OpenBoxRetrieval-v1",
  "KitAssembly-v1",
  "GraspTwoBlocks-v1",
  "ReorientPen-v1",
  "DexOpenDoor-v1",
  "HammerNailOut-v1",
  "DualArmLiftBall-v1",
  "DualArmBookPickPlace-v1",
  "DualArmPegInHole-v1",
  "DualArmCleanupPotEnv-v1",
  "DualArmOpenLaptop-v1",
  "DualArmThrowBlock-v1",
  "DualArmJugglingBall-v1",
  "DualArmOpenBottle-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",
  "robot_camera_0",
  "robot_camera_1"
 ],
 "missing_right_wrist_image": "zeros",
 "num_demos_per_task": 20,
 "train_episodes": 320,
 "train_frames": 142831,
 "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": "014a5ba1aeac06ab3063bd1a4da191302fa7d71ea59ac544f0783e624c0a14d4",
 "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 (16 tasks, 320 episodes, 142831 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
   ]
  },
  "GraspTwoBlocks-v1": {
   "path": "maniladder/envs/rigid_body/single_arm_dex/level_2/grasp_blocks.py",
   "sha256": "5ca6052059d89129ea2053033b959eafe590e119664bbcf431143d371650d66e",
   "level": "level_2",
   "category": "rigid_body/single_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "ReorientPen-v1": {
   "path": "maniladder/envs/rigid_body/single_arm_dex/level_2/reorient_pen.py",
   "sha256": "cb46bbdf5dc53cc310e613a1556720d34b444b1333421682cd9b5133972aa386",
   "level": "level_2",
   "category": "rigid_body/single_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "DexOpenDoor-v1": {
   "path": "maniladder/envs/rigid_body/single_arm_dex/level_2/open_door.py",
   "sha256": "6c21f64c2a98c359f1d01c67743cd590799b763ba3e1b933b7204d798312d062",
   "level": "level_2",
   "category": "rigid_body/single_arm_dex",
   "cameras": [
    "front_camera",
    "robot_camera",
    null
   ]
  },
  "HammerNailOut-v1": {
   "path": "maniladder/envs/rigid_body/single_arm_dex/level_2/hammer_nail_out.py",
   "sha256": "f524116a35ee681f0573ed934a47914d71d1ab9ca9cfd610f7d43a574cb8bac4",
   "level": "level_2",
   "category": "rigid_body/single_arm_dex",
   "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"
   ]
  },
  "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"
   ]
  }
 },
 "eval_episodes": 50,
 "eval_seed_base": 1000,
 "evaluated_steps": [
  50000
 ],
 "selection": "final checkpoint only (no checkpoint selection)"
}