{
  "task": "DualArmBallClassify-v1",
  "method": "PI0.5 LoRA + trainable weights",
  "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
  "checkpoint": "lora_step_0010000.npz",
  "checkpoint_sha256": "0bec5644e89c77f1fbdb520eae5ea4504903d0bbed7dab3b41295d045e50aa0f",
  "checkpoint_bytes": 1867844866,
  "tensor_count": 51,
  "action_dim": 32,
  "state_dim": 32,
  "action_horizon": 50,
  "max_token_len": 200,
  "image_size": 224,
  "exec_steps": 16,
  "sample_steps": 10,
  "state_input": "zero vector",
  "control_mode": "pd_ee_delta_pose",
  "num_demos": 20,
  "train_steps": 40000,
  "batch_size": 64,
  "selected_step": 10000,
  "eval_episodes": 50,
  "eval_seed_base": 1000,
  "norm_stats_sha256": "c01e6c52713848e26c0730d8ae721a0afd621438befcc251a87d6d7783bd3216",
  "norm_stats_file": "norm_stats.json",
  "training_run": "pi05_lora_task_DualArmBallClassify-v1",
  "source_path": "maniladder/envs/rigid_body/dual_arm_gripper/level_4/ball_classify.py",
  "environment_audit": "Previously classified reusable by the 2026-10-22 audit.",
  "environment_audit_limit": "Training did not preserve a complete source snapshot. Reuse was inferred from source timestamps and change review; exact source identity is not proven."
}