{
  "suite": "level_4",
  "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": "6282d8278bfbc4c9bcefd2f520108fa162113fd6a6713d6cf398b86ce70541c4",
  "checkpoint_bytes": 1867992394,
  "tensor_count": 51,
  "trainable_params": 466993954,
  "tasks": [
    "RingTossing-v1",
    "HitBilliard-v1",
    "FlipPan-v1",
    "PingPongBallTransport-v1",
    "FitnessBall-v1",
    "TennisRally-v1",
    "RodThroughHoles-v1",
    "SpinPenHora-v1",
    "DualArmBallClassify-v1",
    "DualArmBilliardBridge-v1",
    "DualArmRubikCube-v1",
    "DualArmMahjongSetup-v1",
    "DualArmKeyboardType-v1",
    "DualArmSendPingpong-v1",
    "DualArmFlipTable-v1",
    "DualArmShootBasketball-v1",
    "DualArmClothCylinderWipe-v1",
    "DualArmJumpRope-v1",
    "DualArmLiquidMixing-v1",
    "DualArmClothHanger-v1",
    "DualArmSandShovel-v1",
    "DualArmWallRings-v1",
    "CoverPattern-v1",
    "ClaySealStamp-v1",
    "BuildTent-v1",
    "WrapRope-v1",
    "StampRoll-v1"
  ],
  "num_tasks": 27,
  "prompts": {
    "RingTossing-v1": "perform the ManiLadder task: ring tossing",
    "HitBilliard-v1": "perform the ManiLadder task: hit billiard",
    "FlipPan-v1": "perform the ManiLadder task: flip pan",
    "PingPongBallTransport-v1": "perform the ManiLadder task: ping pong ball transport",
    "FitnessBall-v1": "perform the ManiLadder task: fitness ball",
    "TennisRally-v1": "perform the ManiLadder task: tennis rally",
    "RodThroughHoles-v1": "perform the ManiLadder task: rod through holes",
    "SpinPenHora-v1": "perform the ManiLadder task: spin pen hora",
    "DualArmBallClassify-v1": "perform the ManiLadder task: dual arm ball classify",
    "DualArmBilliardBridge-v1": "perform the ManiLadder task: dual arm billiard bridge",
    "DualArmRubikCube-v1": "perform the ManiLadder task: dual arm rubik cube",
    "DualArmMahjongSetup-v1": "perform the ManiLadder task: dual arm mahjong setup",
    "DualArmKeyboardType-v1": "perform the ManiLadder task: dual arm keyboard type",
    "DualArmSendPingpong-v1": "perform the ManiLadder task: dual arm send pingpong",
    "DualArmFlipTable-v1": "perform the ManiLadder task: dual arm flip table",
    "DualArmShootBasketball-v1": "perform the ManiLadder task: dual arm shoot basketball",
    "DualArmClothCylinderWipe-v1": "perform the ManiLadder task: dual arm cloth cylinder wipe",
    "DualArmJumpRope-v1": "perform the ManiLadder task: dual arm jump rope",
    "DualArmLiquidMixing-v1": "perform the ManiLadder task: dual arm liquid mixing",
    "DualArmClothHanger-v1": "perform the ManiLadder task: dual arm cloth hanger",
    "DualArmSandShovel-v1": "perform the ManiLadder task: dual arm sand shovel",
    "DualArmWallRings-v1": "perform the ManiLadder task: dual arm wall rings",
    "CoverPattern-v1": "perform the ManiLadder task: cover pattern",
    "ClaySealStamp-v1": "perform the ManiLadder task: clay seal stamp",
    "BuildTent-v1": "perform the ManiLadder task: build tent",
    "WrapRope-v1": "perform the ManiLadder task: wrap rope",
    "StampRoll-v1": "perform the ManiLadder task: stamp roll"
  },
  "num_demos_per_task": 20,
  "action_dim": 50,
  "state_dim": 50,
  "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": "7a96ea78deee9779f6ca47b9e92d178dffa94f346760bdc2644f951828d51d65",
  "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": {
    "SwingRing-v1": "level 4, excluded on request",
    "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)"
}