{
  "task": "ClutterGrasp-v1",
  "method": "PI0.5 LoRA + trainable weights",
  "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
  "checkpoint": "lora_step_0015000.npz",
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  "image_size": 224,
  "exec_steps": 16,
  "sample_steps": 10,
  "control_mode": "pd_ee_delta_pose",
  "cameras": [
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  "state_input": "zero vector",
  "num_demos": 20,
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  "campaign": "pi05_hf21_20261025",
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  "selection": "highest evaluated success rate, then earliest step",
  "training_data": "Linslab/ManiLadder_Dataset raw/ClutterGrasp-v1 (20 demos, downloaded 2026-10-25/28)",
  "missing_right_wrist_image": "zeros"
}