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parallelvla-putcab-pi05-factorized-router-train100-val5-20260813

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parallelvla-putcab-pi05-factorized-router-train100-val5-20260813
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{
  "schema_version": "parallelvla.putcab_pi05_factorized_router_bundle.v1",
  "task": "put_object_cabinet",
  "visibility": "public",
  "created_date": "2026-08-13",
  "producer_commits": {
    "parallelvla": "93fe93490417ea28c3e97b64a3425c7163fa5c6e",
    "robotwin_native": "c3ddfa8b97d5519efa828b075999bd0006778e5e",
    "lerobot_converter": "0962b5e1dbe638de7aea4f07c83eab8e6db5fd9b"
  },
  "train": {
    "episodes": 100,
    "lerobot_frames": 21645,
    "native_supervision_frames": 21745,
    "dataset_revision": "f00894aa39d358fba50e6c1daa4918502b7dd7ccedb52c934fc3a8f967ed9790",
    "annotation_revision": "aa7206038705c765394ba5d9f535e30527a7cb1bf9c35c5f28f45eee62a759b2",
    "source_annotation_revision": "3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e",
    "composition": "50 canonical parallel + 50 no-dual-wait random relative delay",
    "random_delay_router_target": "next_active"
  },
  "validation": {
    "episodes": 5,
    "seeds": [
      1012,
      1014,
      1022,
      1096,
      1109
    ],
    "object_arm_counts": {
      "left": 3,
      "right": 2
    },
    "lerobot_frames": 999,
    "native_supervision_frames": 1004,
    "episode_lerobot_lengths": [
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      202
    ],
    "dataset_revision": "72ef47702b49199523c9037cc7cc4b36c5215d05bfa725fc9b2245afd400b840",
    "annotation_revision": "691846d9a2d1a72464a6c4c086d15738139c6838b5f7f36b4d7bd86c6a21d26e",
    "source_annotation_revision": "f7c80dd7f436e2c6c5fea46af5a7947d10e36197a4c4c49eaf9cdbb31498f6f1",
    "random_delay_router_target": "physical",
    "split": "heldout"
  },
  "normalizer": {
    "source": "train100 only",
    "sha256": "d2e9c732167c13d067dc70c34467fffc310a4aaa73511102ab6ce3377ae4a142",
    "dataset_revision": "f00894aa39d358fba50e6c1daa4918502b7dd7ccedb52c934fc3a8f967ed9790",
    "action_horizon": 50,
    "robot_action_dim": 14,
    "model_action_dim": 32,
    "valid_action_vectors": 959750,
    "excluded_padding_vectors": 122500
  },
  "router": {
    "stage_keys": [
      "wait",
      "reach_grasp_object",
      "wait_hold_object",
      "reach_open_drawer",
      "insert_place_object",
      "wait_hold_drawer_open"
    ],
    "text_format": "Left arm: <semantic>; Right arm: <semantic>.",
    "action_prompt_format": "{task}\\nCurrent subtask: {subtask}",
    "router_supervises_hold_frames": true,
    "action_loss_stages": [
      "reach_grasp_object",
      "reach_open_drawer",
      "insert_place_object"
    ],
    "hold_wait_arm_action_dimensions_masked": true,
    "robot_action_basis": {
      "left": [
        0,
        7
      ],
      "right": [
        7,
        14
      ]
    },
    "model_action_dim": 32
  },
  "alignment": {
    "lerobot_row": "state[t] paired with native action[t+1]",
    "per_episode_lerobot_length": "native_frame_count - 1",
    "action_horizon": 50,
    "no_cross_stage_action_loss": true
  }
}