{
  "suite": "level_1",
  "method": "PI0.5 LoRA + trainable weights, multi-task (one policy for every task of the level)",
  "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
  "checkpoint": "lora_step_0080000.npz",
  "checkpoint_sha256": "676facb888b37820ff8d823203c575c96c1f5fcb4f314bd969f1cecf9f86957d",
  "checkpoint_bytes": 1867943218,
  "tensor_count": 51,
  "trainable_params": 466981660,
  "tasks": [
    "PushSoccer-v1",
    "PickPlacePen-v1",
    "OpenDoor-v1",
    "StackBlock-v1",
    "LiftBucket-v1",
    "TurnOnFaucet-v1",
    "ReorientCube-v1",
    "GraspCylinder-v1",
    "DualArmPushBox-v1",
    "DualArmDoubleDoorBox-v1",
    "DualArmButtonPress-v1",
    "DualArmHammerHandover-v1",
    "DualArmPressButton-v1",
    "DualArmOpenScissor-v1",
    "DualArmSwingCup-v1",
    "DualArmOpenPen-v1",
    "DualArmCoverCloth-v1",
    "DualArmLiftSoftDex-v1",
    "DualArmRopeStretch-v1",
    "DualArmFoldHandKerchief-v1",
    "DualArmPouringWater-v1",
    "DualArmRopeCylinderWarpping-v1",
    "DrapeCloth-v1",
    "RopePalmCageHoldDex-v1",
    "SqueezeClay-v1",
    "ShapeTToI-v1",
    "StraightenRope-v1",
    "UnfoldShirt-v1"
  ],
  "num_tasks": 28,
  "prompts": {
    "PushSoccer-v1": "perform the ManiLadder task: push soccer",
    "PickPlacePen-v1": "perform the ManiLadder task: pick place pen",
    "OpenDoor-v1": "perform the ManiLadder task: open door",
    "StackBlock-v1": "perform the ManiLadder task: stack block",
    "LiftBucket-v1": "perform the ManiLadder task: lift bucket",
    "TurnOnFaucet-v1": "perform the ManiLadder task: turn on faucet",
    "ReorientCube-v1": "perform the ManiLadder task: reorient cube",
    "GraspCylinder-v1": "perform the ManiLadder task: grasp cylinder",
    "DualArmPushBox-v1": "perform the ManiLadder task: dual arm push box",
    "DualArmDoubleDoorBox-v1": "perform the ManiLadder task: dual arm double door box",
    "DualArmButtonPress-v1": "perform the ManiLadder task: dual arm button press",
    "DualArmHammerHandover-v1": "perform the ManiLadder task: dual arm hammer handover",
    "DualArmPressButton-v1": "perform the ManiLadder task: dual arm press button",
    "DualArmOpenScissor-v1": "perform the ManiLadder task: dual arm open scissor",
    "DualArmSwingCup-v1": "perform the ManiLadder task: dual arm swing cup",
    "DualArmOpenPen-v1": "perform the ManiLadder task: dual arm open pen",
    "DualArmCoverCloth-v1": "perform the ManiLadder task: dual arm cover cloth",
    "DualArmLiftSoftDex-v1": "perform the ManiLadder task: dual arm lift soft dex",
    "DualArmRopeStretch-v1": "perform the ManiLadder task: dual arm rope stretch",
    "DualArmFoldHandKerchief-v1": "perform the ManiLadder task: dual arm fold hand kerchief",
    "DualArmPouringWater-v1": "perform the ManiLadder task: dual arm pouring water",
    "DualArmRopeCylinderWarpping-v1": "perform the ManiLadder task: dual arm rope cylinder warpping",
    "DrapeCloth-v1": "perform the ManiLadder task: drape cloth",
    "RopePalmCageHoldDex-v1": "perform the ManiLadder task: rope palm cage hold dex",
    "SqueezeClay-v1": "perform the ManiLadder task: squeeze clay",
    "ShapeTToI-v1": "perform the ManiLadder task: shape t to i",
    "StraightenRope-v1": "perform the ManiLadder task: straighten rope",
    "UnfoldShirt-v1": "perform the ManiLadder task: unfold shirt"
  },
  "num_demos_per_task": 20,
  "action_dim": 44,
  "state_dim": 44,
  "state_input": "zero vector",
  "action_horizon": 50,
  "max_token_len": 200,
  "image_size": 224,
  "exec_steps": 16,
  "sample_steps": 10,
  "control_mode": "pd_ee_delta_pose",
  "train_steps": 80000,
  "batch_size": 64,
  "lr": 5e-05,
  "warmup_steps": 1000,
  "lr_schedule": "cosine decay over all 80k steps",
  "data_parallel_gpus": 8,
  "gpu": "NVIDIA A100 80GB",
  "fsdp_devices": 1,
  "online_eval": false,
  "norm_stats_file": "norm_stats.json",
  "norm_stats_sha256": "2ee8037535393988cf87ad99254ae9b551e025a441d7eab261139ec9ca6393f2",
  "norm_stats_note": "quantile stats computed per dimension while ignoring padded (all-zero) action/state dimensions of embodiments narrower than action_dim, so q01==q99 collapse does not blow up scaling",
  "training_data": "Linslab/ManiLadder_Dataset raw/<task>, 20 demos per task, revision 1190737391cc (sha256-verified download 2026-10-28)",
  "training_data_overrides": {
    "DualArmOpenScissor-v1": "local demos collected 2026-10-22 (HF copy of 2026-06-11 predates the env)"
  },
  "excluded_tasks": {
    "OpenCoffer-v1": "no demos exist",
    "DualArmSqueezeClayDex-v1": "no demos exist",
    "DualArmRopeScissorCut-v1": "no demos exist",
    "DualArmBuildCanel-v1": "no demos exist",
    "PickSoft-v1": "no demos exist",
    "ClayMolding-v1": "no demos exist"
  },
  "eval_episodes": 50,
  "eval_seed_base": 1000,
  "evaluated_steps": [
    80000
  ],
  "campaign": "pi05_levels_20261028",
  "trained": "2026-10-29 02:10 -> 2026-10-30 (full restart with padding-aware norm stats)"
}