{
  "task": "DualArmThreadRopeThroughTube-v1",
  "method": "PI0.5 LoRA + trainable weights",
  "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
  "checkpoint": "lora_step_0035000.npz",
  "checkpoint_sha256": "ed640c43be58457fab4969a591ef4ab14103d5553c3f363f39412e0ff47bbdd1",
  "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": 35000,
  "eval_episodes": 50,
  "eval_seed_base": 1000,
  "norm_stats_sha256": "62084fd445a5402a2980d05e2dd0da77f8807d8c223a926a8e33c6a3a7f87394",
  "norm_stats_file": "norm_stats.json",
  "training_run": "pi05_lora_task_DualArmThreadRopeThroughTube-v1",
  "source_path": "maniladder/envs/deformable/dual_arm_gripper/level_3/through_tube.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."
}