{
  "suite": "level_2",
  "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": "2a7bcee7c9f690f1c1f6552435907daeceb5da495d14f0a55affb13e3e6d8c8f",
  "checkpoint_bytes": 1867943218,
  "tensor_count": 51,
  "trainable_params": 466981660,
  "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",
    "DualArmPlaceRopeOverRod-v1",
    "DualArmStuffCloth-v1",
    "DualArmPouringTwoCups-v1",
    "DualArmClothAlign-v1",
    "DualArmPushObject-v1",
    "DualArmStraightenRope-v1",
    "ClothWipe-v1",
    "RollingPin-v1",
    "RopeBridgeDex-v1",
    "FoldShirt-v1",
    "ScoopWater-v1",
    "StraightenTwoRopesSequential-v1"
  ],
  "num_tasks": 28,
  "prompts": {
    "HangMug-v1": "perform the ManiLadder task: hang mug",
    "PivotBook-v1": "perform the ManiLadder task: pivot book",
    "OpenBoxRetrieval-v1": "perform the ManiLadder task: open box retrieval",
    "KitAssembly-v1": "perform the ManiLadder task: kit assembly",
    "GraspTwoBlocks-v1": "perform the ManiLadder task: grasp two blocks",
    "ReorientPen-v1": "perform the ManiLadder task: reorient pen",
    "DexOpenDoor-v1": "perform the ManiLadder task: dex open door",
    "HammerNailOut-v1": "perform the ManiLadder task: hammer nail out",
    "DualArmLiftBall-v1": "perform the ManiLadder task: dual arm lift ball",
    "DualArmBookPickPlace-v1": "perform the ManiLadder task: dual arm book pick place",
    "DualArmPegInHole-v1": "perform the ManiLadder task: dual arm peg in hole",
    "DualArmCleanupPotEnv-v1": "perform the ManiLadder task: dual arm cleanup pot env",
    "DualArmOpenLaptop-v1": "perform the ManiLadder task: dual arm open laptop",
    "DualArmThrowBlock-v1": "perform the ManiLadder task: dual arm throw block",
    "DualArmJugglingBall-v1": "perform the ManiLadder task: dual arm juggling ball",
    "DualArmOpenBottle-v1": "perform the ManiLadder task: dual arm open bottle",
    "DualArmPlaceRopeOverRod-v1": "perform the ManiLadder task: dual arm place rope over rod",
    "DualArmStuffCloth-v1": "perform the ManiLadder task: dual arm stuff cloth",
    "DualArmPouringTwoCups-v1": "perform the ManiLadder task: dual arm pouring two cups",
    "DualArmClothAlign-v1": "perform the ManiLadder task: dual arm cloth align",
    "DualArmPushObject-v1": "perform the ManiLadder task: dual arm push object",
    "DualArmStraightenRope-v1": "perform the ManiLadder task: dual arm straighten rope",
    "ClothWipe-v1": "perform the ManiLadder task: cloth wipe",
    "RollingPin-v1": "perform the ManiLadder task: rolling pin",
    "RopeBridgeDex-v1": "perform the ManiLadder task: rope bridge dex",
    "FoldShirt-v1": "perform the ManiLadder task: fold shirt",
    "ScoopWater-v1": "perform the ManiLadder task: scoop water",
    "StraightenTwoRopesSequential-v1": "perform the ManiLadder task: straighten two ropes sequential"
  },
  "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": "dd578f246b55ab92eff2f93926ef0d006826ba53fbe4fa1d4e592c0f4d28af45",
  "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": {},
  "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)"
}