s018-scan-object-new-ctr-nomask-pi05-step10000

s018-scan-object-new-ctr-nomask-pi05-step10000

• Experiment E920 (Study S018, Scan Object New simulation, task scan_object_ctr)
• Training data: Shiki42/ctr-scan-object-new-100ep-ctr@e75f1c96
• Variant: CTR without IdleMask (IdleMask ablation)
• Source: CTR repository experiment records; results reported / audit pending
• PI0.5 LoRA OpenPI checkpoint, optimizer step 10000 of 20000 (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": "E920",
  "training_run": "E920-R001",
  "step": 10000,
  "task": "scan-object",
  "algorithm": "pi05",
  "idle_mask": false,
  "data_condition": "ctr_nomask",
  "revision": "898ec270d5f1e23eb3a900ed586832aea7bff478",
  "package_manifest_sha256": null,
  "training_configuration": {
    "ablation": "IdleMask ablation: train on the exact same CTR revision and samples as E919 while disabling observation.arm_active_mask consumption; ordinary temporal padding remains enabled.",
    "backend": "jax",
    "budget_basis": "S016 PI0.5 budget reused: 20000 updates, batch16, retain step10000/step20000, warmup1000 / cosine decay_steps30000.",
    "budget_status": "S018 registration 2026-09-23 using S016 PI0.5 budget; user started training 2026-09-23",
    "checkpoint_selection": "step20000 is preselected for the primary evaluation; retain step10000 and step20000, including full step20000 training state. A possible step30000 extension requires separate registration and is not part of this Run",
    "ctr_pairing": "The with-mask and without-mask arms use the identical dataset revision, all episodes, preprocessing, initialization, optimizer, schedule, seed, batch and update budget; only IdleMask loss consumption differs.",
    "dataset": {
      "action_dimensions": 14,
      "camera_preset": "centered_fovy90",
      "codebase_version": "v3.0",
      "episodes": 100,
      "expected_seed_multiplicity": 2,
      "fps": 25,
      "frames": 55658,
      "head_intrinsics": "fx=fy=358.64px,cx=160px,cy=120px (export receipt); wrists fx=fy=120px (vertical FOV 90)",
      "idle_mask_enabled": false,
      "idle_mask_fields_present": true,
      "manifest_sha256": "c1fdec01f07c8ac94ffa5f70ea8076f200a8f78ca5634d134fe4878342a13bd9",
      "metadata_verified": "meta/info.json v3.0 fps25 100ep/55658 frames; SHA256SUMS sha256 recorded; retime_manifest 50 seeds x2 (checked 2026-09-23 from hf-mirror at pinned revision)",
      "method": "ctr",
      "parent_revision_with_defect": "b060ff13806e400739537c29e0341cd137986e1d",
      "patch": {
        "authority": "user instruction 2026-09-23: patch the missing frame with the previous frame and keep using this dataset",
        "episodes_metadata": "left_wrist from/to timestamps for episodes 44-99 set equal to top/right (+1 frame)",
        "gap_localization": "not identifiable from content; duplicate appended at end of episode 44 where left arm is static",
        "left_wrist_frames": "55657 -> 55658",
        "parent_revision": "b060ff13806e400739537c29e0341cd137986e1d",
        "patched_revision": "e75f1c96b10e8a4e8eb8c8547183fd740f0d764e",
        "public_verified": "hf-mirror download of all changed files at e75f1c96 matched SHA256SUMS; main=e75f1c96, public",
        "receipt_in_dataset": "meta/left-wrist-frame-patch.json",
        "reencoded": "final 23-frame GOP of episode 44 plus one duplicate of source frame 25081 (libx264 crf18 g25)",
        "segment_psnr_db_min": 51.68,
        "untouched_frames_bit_exact": 55634
      },
      "pre_rename_repo_id": "Shiki42/ctr-scanobject-100ep-ctr",
      "publication_experiment": "E915",
      "repo_id": "Shiki42/ctr-scan-object-new-100ep-ctr",
      "revision": "e75f1c96b10e8a4e8eb8c8547183fd740f0d764e",
      "sample_range": "all 100 episodes",
      "schedule": "CTR retimed: 50 source scenes x 2 relative-start samples",
      "source_scene_count": 50,
      "sparse_video_intervals": false,
      "state_dimensions": 14
    },
    "effective_batch_size": 16,
    "gradient_accumulation_steps": 1,
    "idle_mask": false,
    "idle_mask_policy": "disabled: observation.arm_active_mask is present but not consumed; ordinary temporal padding remains",
    "initialization": {
      "optimizer_step": 0,
      "repo_id": "XinY0201/openpi-pi05-base-jax",
      "revision": "5e62884fcf8cb8f9fc693c9163ea18d3e3739658",
      "state": "fresh model LoRA, optimizer, scheduler and RNG"
    },
    "learning_rate_schedule": {
      "decay_steps": 30000,
      "final_lr": 2.5e-06,
      "peak_lr": 2.5e-05,
      "source": "unchanged E091 baseline",
      "warmup_steps": 1000
    },
    "loader": {
      "adapter": "ctr.lerobot_v3",
      "entry": "ctr.openpi_entry",
      "format": "LeRobot v3.0",
      "gripper_actions": "absolute command",
      "joint_actions": "delta from current measured state once",
      "legacy_source_parent_commit": "ed2396899f14925191325a07a455681122f4e0ca",
      "legacy_source_subdirectory": "third_party/lerobot",
      "runtime_unchanged": true,
      "upstream_lerobot_unchanged": true,
      "upstream_openpi_unchanged": true,
      "v3_video_offsets": true
    },
    "normalization": "Exact global 1%/99% per-feature quantiles over the frozen training representation; exclude padding and invalid action-window elements; record interpolation, counts, clipping fractions, round-trip checks and artifact SHA-256.",
    "normalization_algorithm": "exact_global_native_v1",
    "optimizer_updates": 20000,
    "policy": "PI0.5",
    "policy_source": "PI0.5 Base LoRA",
    "retained_checkpoint_steps": [
      10000,
      20000
    ],
    "schedule": "uniform",
    "seed": 87431,
    "selected_checkpoint": "final step20000",
    "source_task_commit": "336b228c1a24992870c41294e368fbd2ae22cfdf",
    "task": "Scan Object New (scan_object_ctr)",
    "task_key": "scan_object_ctr",
    "trainer": "./scripts/train jax",
    "training_variant": "ctr_nomask"
  },
  "dataset": {
    "episodes": 100,
    "frames": 55658,
    "idle_mask_enabled": false,
    "idle_mask_purpose": "paired CTR ablation",
    "pinned_pre_rename_revision": "b060ff13806e400739537c29e0341cd137986e1d",
    "pre_rename_repo_id": "Shiki42/ctr-scanobject-100ep-ctr",
    "rename_verified_at": "2026-09-23T13:52:22.043600+00:00",
    "repo_id": "Shiki42/ctr-scan-object-new-100ep-ctr",
    "repository_move_experiment": "E915"
  },
  "actual_normalization": null,
  "eligibility": null,
  "evaluation_bindings": [
    {
      "experiment": "E935",
      "title": "S018 Scan Object New / CTR without IdleMask / PI0.5：100场评测",
      "checkpoint_step": null,
      "protocol": {
        "task_key": "scan_object_ctr",
        "robotwin_source_commit": "336b228c1a24992870c41294e368fbd2ae22cfdf",
        "native_entrypoint": "bash scripts/eval_policy.sh --task_name scan_object_ctr --policy_name POLICY --host localhost --port PORT --task_config demo_clean --seed 0 --test_num 100",
        "training_experiment": "E920",
        "policy": "PI0.5",
        "training_variant": "ctr_without_idlemask",
        "checkpoint_selection": "preselected step20000",
        "scenes": "one frozen ordered 100-scene held-out suite disjoint from all four training datasets, shared across all active checkpoints; verify seed/object identity and initial state",
        "physics": "native scan_object_ctr at pinned commit; preserve scan latch, object and scanner return targets, table support, open grippers, stationarity and collision checks",
        "cameras": "top and centered_fovy90 dual wrists; preserve actual calibrated mounts/intrinsics",
        "inference": "preserve each policy native action queue, reset, representation and denoising/temporal aggregation",
        "metrics": [
          "success_rate",
          "collision_rate",
          "wall_clock_seconds_including_startup",
          "per_scene_outcome"
        ],
        "engineering_acceptance": "100 scenes <=600 seconds including startup using model/task-qualified high-performance implementation",
        "reporting": "report success rate when available, then audit; reported -> audit pending -> archived/confirmed",
        "frozen_suite": {
          "experiment": "E975",
          "run": "E975-R002",
          "path": "eval/robotwin/seeds/ctr-disjoint100-20260924/scan_object_ctr.json",
          "sha256": "a7d34d6d2bc068d0616cb16526ff933849d21b88e562d822c1b5defb2a0b96e2",
          "scenes": 100,
          "adapter": "ctr.scan_new_eval",
          "ordered": true
        },
        "action_limit": 500,
        "action_count_semantics": "Maximum 500 executed native action targets cumulatively per scene, across both arms and all inference chunks; stop at success or the cap.",
        "native_task_source_limit": 1200
      },
      "runs": [
        {
          "id": "E935-R001",
          "status": "completed",
          "code_commit": null,
          "result": null,
          "result_uri": null
        }
      ],
      "step_binding": "verify raw evaluation receipt"
    }
  ],
  "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."
}