{
 "suite": "level2_single_arm",
 "suite_id": "l2single",
 "description": "all level-2 single-arm tasks (gripper + dexterous hand)",
 "campaign": "pi05_lv2sub_20261029",
 "tasks": [
  "HangMug-v1",
  "PivotBook-v1",
  "OpenBoxRetrieval-v1",
  "KitAssembly-v1",
  "FoldShirt-v1",
  "ScoopWater-v1",
  "StraightenTwoRopesSequential-v1",
  "GraspTwoBlocks-v1",
  "ReorientPen-v1",
  "DexOpenDoor-v1",
  "HammerNailOut-v1",
  "ClothWipe-v1",
  "RollingPin-v1",
  "RopeBridgeDex-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"
 ],
 "missing_right_wrist_image": "zeros",
 "num_demos_per_task": 20,
 "train_episodes": 280,
 "train_frames": 115379,
 "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": "0239d4f15e7f3126a38721118d570b92037f3569f28927016a50be62293c16e6",
 "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, 115379 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
   ]
  },
  "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
   ]
  },
  "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
   ]
  }
 },
 "eval_episodes": 50,
 "eval_seed_base": 1000,
 "evaluated_steps": [
  50000
 ],
 "selection": "final checkpoint only (no checkpoint selection)"
}