{
  "repo_id": "IDEAS-Lab-Northwestern/pi05-sim-table-lora",
  "repo_type": "model",
  "created_utc": "2026-04-29T19:41:54Z",
  "source_git_commit": "650c5b0283a49c42784fb5055a0507da2c6d347d",
  "train_config_name": "pi05_clutter_libero_lora",
  "experiment_name": "sim_table_lora",
  "dataset_repo_id": "IDEAS-Lab-Northwestern/sim-table",
  "checkpoint_base_path": "checkpoints/pi05_clutter_libero_lora/sim_table_lora",
  "checkpoints": [
    {
      "step": 5000,
      "path": "checkpoints/pi05_clutter_libero_lora/sim_table_lora/5000",
      "local_source": "checkpoints/pi05_clutter_libero_lora/sim_table_lora/5000",
      "size": "9.0G",
      "files": 28
    },
    {
      "step": 15000,
      "path": "checkpoints/pi05_clutter_libero_lora/sim_table_lora/15000",
      "local_source": "checkpoints/pi05_clutter_libero_lora/sim_table_lora/15000",
      "size": "8.9G",
      "files": 27,
      "upload_status": "uploaded",
      "notes": "Resumed from local step 5000 on the same IDEAS-Lab-Northwestern/sim-table dataset."
    },
    {
      "step": 25000,
      "path": "checkpoints/pi05_clutter_libero_lora/sim_table_lora/25000",
      "local_source": "checkpoints/pi05_clutter_libero_lora/sim_table_lora/25000",
      "size": "8.9G",
      "files": 27,
      "upload_status": "uploaded",
      "notes": "Final checkpoint after 20000 additional training steps resumed from local step 5000. Uploaded after the repository was made public on 2026-05-01."
    }
  ],
  "model": {
    "family": "pi0.5",
    "action_dim": 32,
    "action_horizon": 16,
    "paligemma_variant": "gemma_2b_lora",
    "action_expert_variant": "gemma_300m_lora",
    "discrete_state_input": false
  },
  "training": {
    "num_train_steps": 20000,
    "batch_size": 4,
    "ema_decay": null,
    "base_checkpoint": "gs://openpi-assets/checkpoints/pi05_base/params",
    "resume_checkpoint": "checkpoints/pi05_clutter_libero_lora/sim_table_lora/5000",
    "resumed_until_step": 25000
  }
}