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README.md

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+# Decoupled reading: model weights (backup 2026-09-30)
+- `reader_weights/`: decoupled reader (12 `obs_encoder.ptr_*` tensors) + normalizer + cfg for every sequence-training run (`INDEX.json`); the BPP policy is frozen, so released BPP checkpoint + these = full model.
+- `full/`: full checkpoints, learned-count reader (LEVT L1/L2) and joint-training ablations.
+- `full_policy_trained/`: runs that also trained the policy (sync/content/nocopy/lnc/dag/factorslot).
+- `pi05_lora/`: pi0.5 LoRA on LIBERO-Gen goal chains (openpi), steps 5k-50k; evaluated: 10000, 20000, 49999.
+- `baselines/`: RoboSSM (20,596 steps) and UniSkill (epoch 500) retrained on LIBERO-Gen Chain.
+- `earlier_lines/`: models from earlier project lines (subgoal/goal image, demo generators, keyframe, pose, trajectory, anchor, phase, boundary reader).

earlier_lines/demo_ckpt_s6/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657]}

earlier_lines/demo_ckpt_s7/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657]}

earlier_lines/demo_ckpt_s8/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657]}

earlier_lines/demo_ckpt_s9/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657]}

earlier_lines/demo_ckpt_smoke/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": false}

earlier_lines/demo_ckpt_wrist/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s1/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s10/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s2/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s3/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s4/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s5/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s6/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s7/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s8/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/demo_ckpt_wrist_s9/config.json

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+{"kind": "demo", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true}

earlier_lines/keyframe_ckpt/config.json

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+{"kind": "demo", "pm": [-0.11422300338745117, 0.044737525284290314, 1.034853458404541, 2.5690267086029053, 0.4992341101169586, -0.33101770281791687, 0.02891230396926403, -0.02898966334760189], "ps": [0.1186428964138031, 0.14176848530769348, 0.1000003069639206, 0.7604495882987976, 0.7479572296142578, 0.440153032541275, 0.013632203452289104, 0.013413606211543083], "wrist": false, "L": 5}

earlier_lines/keyframe_ckpt_s2/config.json

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+{"kind": "demo", "pm": [-0.11422300338745117, 0.044737525284290314, 1.034853458404541, 2.5690267086029053, 0.4992341101169586, -0.33101770281791687, 0.02891230396926403, -0.02898966334760189], "ps": [0.1186428964138031, 0.14176848530769348, 0.1000003069639206, 0.7604495882987976, 0.7479572296142578, 0.440153032541275, 0.013632203452289104, 0.013413606211543083], "wrist": false, "L": 5}

earlier_lines/keyframe_ckpt_s3/config.json

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+{"kind": "demo", "pm": [-0.11422300338745117, 0.044737525284290314, 1.034853458404541, 2.5690267086029053, 0.4992341101169586, -0.33101770281791687, 0.02891230396926403, -0.02898966334760189], "ps": [0.1186428964138031, 0.14176848530769348, 0.1000003069639206, 0.7604495882987976, 0.7479572296142578, 0.440153032541275, 0.013632203452289104, 0.013413606211543083], "wrist": false, "L": 5}

earlier_lines/keyframe_ckpt_s4/config.json

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+{"kind": "demo", "pm": [-0.11422300338745117, 0.044737525284290314, 1.034853458404541, 2.5690267086029053, 0.4992341101169586, -0.33101770281791687, 0.02891230396926403, -0.02898966334760189], "ps": [0.1186428964138031, 0.14176848530769348, 0.1000003069639206, 0.7604495882987976, 0.7479572296142578, 0.440153032541275, 0.013632203452289104, 0.013413606211543083], "wrist": false, "L": 5}

earlier_lines/keyframe_ckpt_s5/config.json

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+{"kind": "demo", "pm": [-0.11422300338745117, 0.044737525284290314, 1.034853458404541, 2.5690267086029053, 0.4992341101169586, -0.33101770281791687, 0.02891230396926403, -0.02898966334760189], "ps": [0.1186428964138031, 0.14176848530769348, 0.1000003069639206, 0.7604495882987976, 0.7479572296142578, 0.440153032541275, 0.013632203452289104, 0.013413606211543083], "wrist": false, "L": 5}

earlier_lines/pfdiff_ckpt/config.json

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+{"kind": "posefirst_diff", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true, "L": 13, "init": ""}

earlier_lines/phase_ckpt/config.json

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+{"kind": "phase", "val_acc": 0.9490322580645161, "step": 5500}

earlier_lines/pose_ckpt/config.json

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+{"kind": "pose", "pm": [-0.11604087799787521, 0.042550038546323776, 1.0551283359527588, 2.587183952331543, 0.4939538836479187, -0.3308270573616028, 0.026725059375166893, -0.02666180208325386], "ps": [0.10378146171569824, 0.11333893984556198, 0.09453637152910233, 0.7331030368804932, 0.7172001004219055, 0.42933645844459534, 0.01412983238697052, 0.014101171866059303], "wrist": true}

earlier_lines/pose_ckpt_gen/config.json

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+{"kind": "pose", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true, "trained_on": "generated frames from /data/jgu/cheng/demo_ckpt_wrist_s5"}

earlier_lines/pose_ckpt_gen_dino/config.json

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+{"kind": "pose", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true, "backbone": "dinov2", "trained_on": "generated frames from /data/jgu/cheng/demo_ckpt_wrist_s5"}

earlier_lines/posefirst_ckpt/config.json

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+{"kind": "posefirst", "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657], "wrist": true, "L": 13, "init": "demo_ckpt_wrist_s10"}

earlier_lines/subgoal_ckpt_diff/config.json

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+{"regress": false}

earlier_lines/subgoal_ckpt_diff_s1/config.json

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+{"regress": false}

earlier_lines/subgoal_ckpt_rand/config.json

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+{"regress": true}

earlier_lines/subgoal_ckpt_reg/config.json

@@ -0,0 +1 @@
+{"regress": true}

earlier_lines/subgoal_ckpt_reg_s9/config.json

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+{"regress": true}

earlier_lines/subgoal_ckpt_regret/config.json

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+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret2/config.json

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+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret2_s1/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret2_s2/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret2_s3/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret2_s4/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret2_s5/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret2_s6/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret2_s7/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret2_s8/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret_s1/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret_s1/subgoal_ckpt_regret/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/subgoal_ckpt_regret_s10/config.json

@@ -0,0 +1 @@
+{"regress": true, "retrieval": true}

earlier_lines/traj26_ckpt/config.json

@@ -0,0 +1 @@
+{"kind": "traj_sampler", "L": 26, "pm": [-0.1136457771062851, 0.0424516387283802, 1.053823709487915, 2.5823733806610107, 0.4963357150554657, -0.33253270387649536, 0.026561859995126724, -0.026500925421714783], "ps": [0.1016681045293808, 0.11147667467594147, 0.09386786818504333, 0.7345088720321655, 0.7173737287521362, 0.4316072165966034, 0.014219152741134167, 0.014188443310558796]}

earlier_lines/traj_ckpt/config.json

@@ -0,0 +1 @@
+{"kind": "traj_sampler", "L": 13, "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657]}

earlier_lines/traj_dino_ckpt/config.json

@@ -0,0 +1 @@
+{"kind": "traj_dino", "L": 13, "pm": [-0.11440909653902054, 0.04211398586630821, 1.0549819469451904, 2.5870094299316406, 0.4913921058177948, -0.33022192120552063, 0.026707995682954788, -0.026652559638023376], "ps": [0.10270249098539352, 0.11272380501031876, 0.09426360577344894, 0.7335286736488342, 0.7164779901504517, 0.4299865961074829, 0.014157725498080254, 0.014119811356067657]}

reader_weights/INDEX.json

@@ -0,0 +1,471 @@
+[
+ {
+  "run": "2026.09.26/08.44.03_factorslot_smoke_policy_liberogen_spatial_combination_prompt_diffusion_unet",
+  "ckpt": "/data/jgu/cheng/bpp_repo/behavior_prompting/train_network/runs/2026.09.26/08.44.03_factorslot_smoke_policy_liberogen_spatial_combination_prompt_diffusion_unet/checkpoints/latest.ckpt",
+  "n_reader_tensors": 0,
+  "n_reader_params": 0,
+  "policy_trained": true
+ },
+ {
+  "run": "2026.09.26/08.48.05_factorslot_smoke3_policy_liberogen_spatial_combination_prompt_diffusion_unet",
+  "ckpt": "/data/jgu/cheng/bpp_repo/behavior_prompting/train_network/runs/2026.09.26/08.48.05_factorslot_smoke3_policy_liberogen_spatial_combination_prompt_diffusion_unet/checkpoints/latest.ckpt",
+  "n_reader_tensors": 0,
+  "n_reader_params": 0,
+  "policy_trained": true
+ },
+ {
+  "run": "2026.09.26/08.49.38_factorslot_v1_policy_liberogen_spatial_combination_prompt_diffusion_unet",
+  "ckpt": "/data/jgu/cheng/bpp_repo/behavior_prompting/train_network/runs/2026.09.26/08.49.38_factorslot_v1_policy_liberogen_spatial_combination_prompt_diffusion_unet/checkpoints/latest.ckpt",
+  "n_reader_tensors": 0,
+  "n_reader_params": 0,
+  "policy_trained": true
+ },
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