baseline: pi05_base + 20-demo LoRA on all 10 clean tasks, 500 dual-sim rollouts

spec/baseline_pi05_base_20demo.json

@@ -0,0 +1,95 @@
+{
+ "schema": "axis_heldout_baseline_v1",
+ "policy": "pi05_base + 20-demo LoRA, constant LR 2.5e-5 after 100-step warmup, 20 epochs",
+ "protocol": "50 dual-sim rollouts per task, published eval seeds, 1500-step cap",
+ "data_state": "OLD render batch: appearance randomized per demo (TextureModder + LightingModder) and wrist camera at the superseded 52-degree rig. This is the BEFORE baseline the re-rendered benchmark will be compared against, not a benchmark result.",
+ "totals": {
+  "successes": 48,
+  "rollouts": 500,
+  "rate": 0.096,
+  "tasks_inside_gate": 0
+ },
+ "gate": "keep a task if 0.20 <= success <= 0.80",
+ "tasks": [
+  {
+   "task_id": 809,
+   "operation": "separate",
+   "successes": 0,
+   "n": 50,
+   "rate": 0.0,
+   "verdict": "below floor"
+  },
+  {
+   "task_id": 811,
+   "operation": "reach",
+   "successes": 41,
+   "n": 50,
+   "rate": 0.82,
+   "verdict": "above ceiling"
+  },
+  {
+   "task_id": 866,
+   "operation": "rotate",
+   "successes": 0,
+   "n": 50,
+   "rate": 0.0,
+   "verdict": "UNEVALUABLE (checker missing)"
+  },
+  {
+   "task_id": 868,
+   "operation": "pick",
+   "successes": 6,
+   "n": 50,
+   "rate": 0.12,
+   "verdict": "below floor"
+  },
+  {
+   "task_id": 945,
+   "operation": "put_into",
+   "successes": 0,
+   "n": 50,
+   "rate": 0.0,
+   "verdict": "below floor"
+  },
+  {
+   "task_id": 953,
+   "operation": "put_spatial",
+   "successes": 1,
+   "n": 50,
+   "rate": 0.02,
+   "verdict": "below floor"
+  },
+  {
+   "task_id": 966,
+   "operation": "put_on",
+   "successes": 0,
+   "n": 50,
+   "rate": 0.0,
+   "verdict": "below floor"
+  },
+  {
+   "task_id": 1426,
+   "operation": "rearrange",
+   "successes": 0,
+   "n": 50,
+   "rate": 0.0,
+   "verdict": "below floor"
+  },
+  {
+   "task_id": 1459,
+   "operation": "insert",
+   "successes": 0,
+   "n": 50,
+   "rate": 0.0,
+   "verdict": "below floor"
+  },
+  {
+   "task_id": 1889,
+   "operation": "put_beside",
+   "successes": 0,
+   "n": 50,
+   "rate": 0.0,
+   "verdict": "below floor"
+  }
+ ]
+}