s015-scan-object-ctr100-nomask-pi05-step10000

DEPRECATED / 已废弃（2026-09-24）

数据集采用光栅化渲染，且存在穿模。用户决定废弃该数据集及由其训练的 S015 E745/E747/E749 checkpoint；停止后续评测。历史文件与 revision 保留，仅供溯源，不得作为有效研究结果使用。

s015-scan-object-ctr100-nomask-pi05-step10000

• Experiment E749 (Study S015, Scan Object simulation)
• Training data: Shiki42/ctr-scan-object-uniform100-e742-20260923@941e22e8
• Variant: CTR100 without IdleMask (IdleMask ablation), PI0.5 LoRA 30K
• Source: CTR repository experiment records; results reported / audit pending
• PI0.5 LoRA OpenPI checkpoint, optimizer step 10000 of 30000 (inference params + assets incl. norm stats)

Archival identity and evaluation version mapping (2026-10-05)

Scientific weights/configuration/actual normalization unchanged. E607 original central Experiment record unchanged. The historical inference revision below remains the weights identity. Only evaluation bindings for this exact step/revision are listed; unresolved receipt references stay explicit.

{
  "experiment": "E749",
  "training_run": "E749-R001",
  "step": 10000,
  "task": "scan-object",
  "algorithm": "pi05",
  "idle_mask": false,
  "data_condition": "ctr_without_idlemask",
  "revision": "4737342f521526f8ba26b23a1807e916beec5f7c",
  "package_manifest_sha256": "0effcbbb882e1ebd9f78588b802cd14e2934e8b17710570c6eb3f4604823be48",
  "training_configuration": {
    "ablation": "S015 mask-only ablation: use the exact same future CTR100 revision and samples as E747 while disabling observation.arm_active_mask consumption.",
    "backend": "jax",
    "batch_size": 16,
    "dataset": {
      "camera_preset": "centered_fovy90",
      "codebase_version": "v3.0",
      "dataset_status": "corrected_public_revision_qualified",
      "episodes": 100,
      "expected_seed_multiplicity": 2,
      "fps": 25,
      "frames": 28772,
      "idle_mask": false,
      "manifest_sha256": "1f42001bb0018e91fb290ecb5ed94b220f55feecc6bf92d561b18864dac7c8c3",
      "mask_sha256": "4d502af6935661b6f29cc235010255b9fde5acee945d75d9287f86786dcdce08",
      "method": "uniform100",
      "publication_experiment": "E800",
      "repo_id": "Shiki42/ctr-scan-object-uniform100-e742-20260923",
      "require_verified_gripper_targets": true,
      "reuse_manifest_sha256": "bcc68d9af735a2045410b771b95d7d8dc421d49d8bfd20c55ed5838e438dc706",
      "reuse_root": "/root/autodl-tmp/ctr-s015-100-20260923/mirror-downloads/80f6efe36d69d19f2000f98f3a141b9422557b39/Shiki42/ctr-scan-object-uniform100-e742-20260923",
      "revision": "941e22e845e3cc16c7ca7d69c6074bf3037a49c7",
      "sample_range": "all 100 matched Uniform episodes",
      "schedule": "uniform100",
      "source_manifest_sha256": "6bc7b91aadbe0c6e21778f87aa7728fc6283f0b3a349459a9a3490b692841fed",
      "source_scene_count": 50
    },
    "gradient_accumulation_steps": 1,
    "idle_mask": false,
    "idle_mask_policy": "do not load or consume observation.arm_active_mask; ordinary temporal padding mask retained",
    "initialization": {
      "optimizer_step": 0,
      "repo_id": "XinY0201/openpi-pi05-base-jax",
      "revision": "5e62884fcf8cb8f9fc693c9163ea18d3e3739658",
      "state": "fresh model LoRA, optimizer, scheduler and RNG"
    },
    "loader": {
      "adapter": "ctr.lerobot_v3",
      "entry": "ctr.openpi_entry",
      "format": "LeRobot v3.0",
      "legacy_source_parent_commit": "ed2396899f14925191325a07a455681122f4e0ca"
    },
    "normalization_algorithm": "exact_global_native_v1",
    "optimizer_updates": 30000,
    "policy": "PI0.5 Base",
    "reference_config": "pi05_putcab_athenb_fullhorizon_mb16_ga1_lora3ep",
    "reference_openpi_commit": "e9ba7b7732a3e66e4bd87d6d3429f7cef6352ead",
    "retained_checkpoint_steps": [
      10000,
      20000,
      30000
    ],
    "schedule": "uniform100",
    "seed": 87431,
    "task": "Scan Object",
    "training_variant": "ctr_without_idlemask"
  },
  "dataset": null,
  "actual_normalization": null,
  "eligibility": {
    "status": "deprecated",
    "usable": false,
    "reason": "用户决定废弃：E742 衍生 100 样本数据采用光栅化渲染，且存在穿模；不再用于有效训练或后续评测。"
  },
  "evaluation_bindings": [
    {
      "experiment": "E994",
      "title": "S015 Scan Object / CTR100 without IdleMask / PI0.5 LoRA 10k：100场评测",
      "checkpoint_step": 10000,
      "protocol": {
        "policy": "π0.5",
        "task": "Scan Object",
        "training_variant": "CTR100 without IdleMask",
        "checkpoint_step": 10000,
        "checkpoint_selection": "fixed a priori S015 retained step",
        "optimizer_updates": 0,
        "metrics": "success rate, Wilson95, Tcap, collisions",
        "scope": "S015 side study; not a Q4-A result cell",
        "protocol": {
          "suite": "paired-uniform-native100-20260917/scan_object",
          "manifest": "eval/robotwin/suites/paired-uniform-native100-20260917/scan_object.json",
          "sha": "056d214f65912164583b4bde806e46d9f2c97fe99d9eef17788dfad2fff6874c",
          "episodes": 100,
          "prompt": "Scan the object.",
          "step_limit": 500,
          "denoising_steps": 10,
          "action_chunk": 50,
          "camera_preset": "centered_fovy90",
          "scene_replacement": false,
          "retries": false
        },
        "performance_method": "same as E976–E981 (E608-R002 K8 / fixed-B4 / renderer reuse / 250Hz)",
        "checkpoint_qualification": "training Run still running; no independent qualification by the training owner yet — this evaluation's CPU prepare performs it (byte manifest, fresh-process CPU params restore + finiteness, normalization/config/mask identity vs training receipts, seed disjointness)",
        "checkpoint": {
          "local_package": "/root/autodl-tmp/ctr-s015-eval-20260924/E994/inputs/checkpoint",
          "slot": "disk",
          "transport": "same-host hard links of params/assets from the training Run's retained step directory plus copies of the training CPU receipts; SHA-256 manifest computed from the source directory and verified by CPU prepare",
          "donor": "/root/autodl-tmp/ctr-s015-100-20260923/E749/run-artifacts/checkpoints/pi05_putcab_athenb_fullhorizon_mb16_ga1_lora3ep/e749/10000"
        }
      },
      "runs": [
        {
          "id": "E994-R001",
          "status": "completed",
          "code_commit": "26affe243a9877c95ccda3a9349ec3baec1e7378",
          "result": null,
          "result_uri": null
        }
      ],
      "step_binding": "explicit"
    }
  ],
  "preservation": "Keep every historical version. Deprecation flags remain visible and do not constitute restored qualification. Missing exact evaluation step must be resolved from raw receipt, not inferred."
}