PI0.5 PutCab A-then-B LoRA, 3 epochs, step 2500

This repository contains the atomic Orbax checkpoint from CTR experiment E112-R002.

Training contract

Task data: Shiki42/robotwin_putcab_fixed_leftDrawer_rightObject_AthenB_50 at revision 793556b0d670af13653dcb6a4ba99864fd985c59
Base model: Shiki42/parallelvla-pi05-putcab-clean-verified-v2-50-30000 at revision 9ad762d24fea8b7de5f4591d67c2bf8b4efe0ae6
Global batch: 16 (microbatch 8 x gradient accumulation 2)
Optimizer updates: 2500
Samples: 40000
Effective exposure: 2.953337 epochs
Seed: 87431
Warmup: 1000 updates
Peak learning rate: 2.5e-5 with a 30000-update decay horizon
EMA: disabled
Camera contract: both wrist cameras use FOVy 90 degrees for training and evaluation
Normalization: loader-consistent delta-space statistics, SHA256 adc09954916679f2a7bea35a3be6a9c0a364992a0ce8dfa4bfc823e5eb21e7f6
Checkpoint: final step 2500 only

Integrity

The checkpoint contains 374 files totaling 8,762,161,420 bytes. CHECKPOINT_SHA256SUMS provides a sorted per-file SHA256 inventory. The inventory file SHA256 is fe081833ba1c4b2e757d3a4866fd092c76184e30e92444d35749c914b1bed86b.

Formal E112 unseen fixed100 evaluation runs separately; results belong to the CTR experiment record.

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Robotics