{
  "format": "MorphAct Pi0.5 checkpoint inference contract",
  "config_name": "pi05_piperx_sort_letter",
  "checkpoint_step": 20000,
  "method": "morphact_pi",
  "model": {
    "model_type": "pi05",
    "pi05": true,
    "action_dim": 32,
    "action_horizon": 50,
    "max_token_len": 200,
    "discrete_state_input": true
  },
  "base_checkpoint": {
    "filename": "model.safetensors",
    "training_file_sha256": "d33d59cd93e8cb6615835f8d85d4840e8fa810e66bb283544905e8d006feb54a",
    "hash_is_loading_requirement": false,
    "included": false,
    "format": "OpenPI PyTorch Pi0.5 base"
  },
  "provenance": {
    "source_commit": "1d2bd070bf2a6a9f066601c09ab36cd489264178",
    "public_base_commit": "e5433de720523f020447e183861a097b902ba7b9",
    "dataset_repo_id": "Takizz/piperx-sortletter-0911-0917-140ep-raw",
    "dataset_revision": "f3d743be7a21e8f9d0c5dd23c910ca50c0134ad1",
    "dataset_episodes": 140,
    "dataset_frames": 149961,
    "fps": 30
  },
  "data": {
    "state_key": "observation.state",
    "action_key": "action",
    "native_state_feature": {
      "dtype": "float32",
      "names": [
        "left_joint_1.pos",
        "left_joint_2.pos",
        "left_joint_3.pos",
        "left_joint_4.pos",
        "left_joint_5.pos",
        "left_joint_6.pos",
        "left_gripper.pos",
        "right_joint_1.pos",
        "right_joint_2.pos",
        "right_joint_3.pos",
        "right_joint_4.pos",
        "right_joint_5.pos",
        "right_joint_6.pos",
        "right_gripper.pos"
      ],
      "shape": [
        14
      ]
    },
    "native_action_feature": {
      "dtype": "float32",
      "names": [
        "left_joint_1.pos",
        "left_joint_2.pos",
        "left_joint_3.pos",
        "left_joint_4.pos",
        "left_joint_5.pos",
        "left_joint_6.pos",
        "left_gripper.pos",
        "right_joint_1.pos",
        "right_joint_2.pos",
        "right_joint_3.pos",
        "right_joint_4.pos",
        "right_joint_5.pos",
        "right_joint_6.pos",
        "right_gripper.pos"
      ],
      "shape": [
        14
      ]
    },
    "native_dimensions": 14,
    "model_dimensions": 32,
    "padding": "zeros after native dimensions",
    "output_dimensions": "first 14 dimensions, in dataset order",
    "camera_mapping": {
      "observation.images.right_environment_1": {
        "policy_key": "cam_high",
        "model_key": "base_0_rgb"
      },
      "observation.images.left_wrist": {
        "policy_key": "cam_left_wrist",
        "model_key": "left_wrist_0_rgb"
      },
      "observation.images.right_wrist": {
        "policy_key": "cam_right_wrist",
        "model_key": "right_wrist_0_rgb"
      }
    },
    "image_processing": "three RGB views resized with padding to 224 x 224",
    "prompt_source": "dataset task description",
    "adapt_to_pi": false,
    "use_delta_joint_actions": false,
    "action_semantics": "absolute joint and gripper targets in original dataset units",
    "normalization": {
      "use_quantiles": true,
      "q01_q99_epsilon": 1e-06,
      "asset_path": "assets/Takizz/piperx-sortletter-0911-0917-140ep-raw/norm_stats.json"
    },
    "action_window": "50 frames; repeat the final action at the episode boundary"
  },
  "loading": "Use a compatible OpenPI Pi0.5 PyTorch base with the MorphAct runtime and this inference contract. Recorded hashes describe the training source and do not restrict loading. This JSON is descriptive and is not automatically registered as a Python training config."
}