pi05-scan-object-concurrent-arm-active-mask-lora-10k-e255

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DEPRECATED / 已废弃 — E255

Do not use this checkpoint or any evaluation results derived from it.

废弃原因：它们错误地开启了 idle mask，而且 idle mask 的定义也不正确。

This checkpoint was trained on a non-CTR dataset with IdleMask incorrectly enabled, and the IdleMask definition itself was incorrect. All checkpoints from this training run, including intermediate checkpoints and published copies, and all associated evaluation metrics are deprecated. Historical success rates, verification PASS receipts, and archive approvals are retained for provenance only and do not establish scientific validity or eligibility for reuse.

Changing inference settings or the card does not repair the trained checkpoint. Use a newly trained checkpoint with the correct non-CTR training recipe and IdleMask disabled, followed by a separate evaluation.

Deprecation authorized by the repository owner on 2026-09-19. This notice supersedes any earlier eligibility or reuse statements below. Original weights, configuration, and historical results are retained.

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PI0.5 scan_object concurrent arm active mask — E255

PI0.5 single-expert LoRA fine-tuning for scan_object, with 10,000 optimizer updates, batch size 16 and seed 87431. Initialized from the pinned PI0.5 Base JAX weights.

Dataset: Shiki42/ctr-scan-object-concurrent-20260916 at 80a951edec636be7e22fca274a88b0b2ff260c2a (50 episodes).

The published observation.arm_active_mask is used directly as left/right supervision weight: 1 active, 0 masked, all seven action channels per arm. Action horizons retain the upstream episode-padding mask. This masks waits marked inactive by the published arm-active field; it does not use retime.*_idle.

The repository contains inference parameters, the matching normalization assets, resolved configuration, provenance and SHA-256 hashes. Optimizer and loader state are not published; this is not a resumable-training snapshot.

The paired evaluation is E256, using the historical frozen 100-scene scan_object suite. Evaluation results are recorded separately and must not be inferred from a successful upload. Results remain reported / audit pending until explicit archive approval.