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  1. finetuned_checkpoints/gym_meanflow/Humanoid-medium-v3_1step_best.pt +3 -0
  2. finetuned_checkpoints/gym_meanflow/Humanoid-medium-v3_2step_best.pt +3 -0
  3. finetuned_checkpoints/gym_meanflow/ant-medium-expert-v2_1step_best.pt +3 -0
  4. finetuned_checkpoints/gym_meanflow/ant-medium-expert-v2_2step_best.pt +3 -0
  5. finetuned_checkpoints/gym_meanflow/hopper-medium-v2_1step_best.pt +3 -0
  6. finetuned_checkpoints/gym_meanflow/hopper-medium-v2_2step_best.pt +3 -0
  7. finetuned_checkpoints/gym_meanflow/kitchen-complete-v0_1step_best.pt +3 -0
  8. finetuned_checkpoints/gym_meanflow/kitchen-complete-v0_2step_best.pt +3 -0
  9. finetuned_checkpoints/gym_meanflow/kitchen-mixed-v0_1step_best.pt +3 -0
  10. finetuned_checkpoints/gym_meanflow/kitchen-mixed-v0_2step_best.pt +3 -0
  11. finetuned_checkpoints/gym_meanflow/walker2d-medium-v2_1step_best.pt +3 -0
  12. finetuned_checkpoints/gym_meanflow/walker2d-medium-v2_2step_best.pt +3 -0
  13. finetuned_checkpoints/robomimic_meanflow/can_best.pt +3 -0
  14. finetuned_checkpoints/robomimic_meanflow/square_best.pt +3 -0
  15. finetuned_checkpoints/robomimic_meanflow/transport_best.pt +3 -0
  16. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow/Humanoid-medium-v3_best.pt +3 -0
  17. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow/ant-medium-expert-v2_best.pt +3 -0
  18. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow/hopper-medium-v2_best.pt +3 -0
  19. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow/kitchen-complete-v0_best.pt +3 -0
  20. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow/kitchen-mixed-v0_best.pt +3 -0
  21. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow/kitchen-partial-v0_best.pt +3 -0
  22. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow/walker2d-medium-v2_best.pt +3 -0
  23. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow_dispersive/Humanoid-medium-v3_best.pt +3 -0
  24. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow_dispersive/ant-medium-expert-v2_best.pt +3 -0
  25. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow_dispersive/halfcheetah-medium-v2_state_40.pt +3 -0
  26. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow_dispersive/hopper-medium-v2_best.pt +3 -0
  27. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow_dispersive/kitchen-complete-v0_best.pt +3 -0
  28. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow_dispersive/kitchen-mixed-v0_state_2000.pt +3 -0
  29. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow_dispersive/kitchen-partial-v0_state_2000.pt +3 -0
  30. pretrained_checkpoints/DMPO_pretrained_gym_checkpoints/gym_improved_meanflow_dispersive/walker2d-medium-v2_best.pt +3 -0
  31. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/README.md +58 -0
  32. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/can/can_w0p1_01_shortcut_flow_baseline.pt +3 -0
  33. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/can/can_w0p1_02_meanflow_baseline.pt +3 -0
  34. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/can/can_w0p1_03_reflow_baseline.pt +3 -0
  35. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/can/can_w0p1_08_meanflow_dispersive.pt +3 -0
  36. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/lift/lift_w0p1_01_shortcut_flow_baseline.pt +3 -0
  37. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/lift/lift_w0p1_02_meanflow_baseline.pt +3 -0
  38. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/lift/lift_w0p1_03_reflow_baseline.pt +3 -0
  39. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/lift/lift_w0p1_08_meanflow_dispersive.pt +3 -0
  40. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/square/square_w0p1_01_shortcut_flow_baseline.pt +3 -0
  41. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/square/square_w0p1_02_meanflow_baseline.pt +3 -0
  42. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/square/square_w0p1_03_reflow_baseline.pt +3 -0
  43. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/square/square_w0p1_08_meanflow_dispersive.pt +3 -0
  44. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/transport/transport_w0p1_01_shortcut_flow_baseline.pt +3 -0
  45. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/transport/transport_w0p1_02_meanflow_baseline.pt +3 -0
  46. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/transport/transport_w0p1_03_reflow_baseline.pt +3 -0
  47. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p1/transport/transport_w0p1_08_meanflow_dispersive.pt +3 -0
  48. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p5/can/can_w0p5_01_shortcut_flow_baseline.pt +3 -0
  49. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p5/can/can_w0p5_02_meanflow_baseline.pt +3 -0
  50. pretrained_checkpoints/DMPO_pretraining_robomimic_checkpoints/w_0p5/can/can_w0p5_03_reflow_baseline.pt +3 -0
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+ # Pretrained Weights and Evaluation Results
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+
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+ This note consolidates the layout of `dm1_pretraining_checkpoints` and `dm1_pretraining_eval_results`, the naming convention we adopted, and a few quick checks you can run to verify files. Use it as a map when you need to locate a particular weight or evaluation bundle.
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+
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+ ## Directory Layout
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+
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+ ```
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+ dm1_pretraining_checkpoints/
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+ w_0p1|w_0p5|w_0p9/
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+ lift|can|square|transport/
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+ *.pt # pretrained policy weights
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+ dm1_pretraining_eval_results/
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+ w_0p1|w_0p5|w_0p9/
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+ lift|can|square|transport/
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+ *.npz # evaluation statistics
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+ ```
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+
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+ - `w_0p1`, `w_0p5`, `w_0p9` indicate the noise-weight settings (w = 0.1, 0.5, 0.9).
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+ - Each task directory (`lift`, `can`, `square`, `transport`) contains eight experiment variants: three baselines and five dispersive-loss ablations.
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+ - Weight snapshots are stored as `.pt` files; evaluation summaries are `.npz` files.
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+
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+ ## Naming Convention
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+
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+ Every file name follows `<task>_w0pX_<index>_<descriptor>.(pt|npz)`, which keeps the order consistent across tasks and w settings.
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+
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+ | Index | Descriptor | Experiment |
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+ | ----- | ---------- | ---------- |
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+ | 01 | `shortcut_flow_baseline` | ShortCut Flow baseline |
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+ | 02 | `meanflow_baseline` | MeanFlow baseline |
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+ | 03 | `reflow_baseline` | ReFlow baseline |
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+ | 04 | `shortcut_infonce_l2` | ShortCut + InfoNCE L2 dispersive loss |
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+ | 05 | `shortcut_infonce_cosine` | ShortCut + InfoNCE Cosine dispersive loss |
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+ | 06 | `shortcut_hinge` | ShortCut + Hinge dispersive loss |
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+ | 07 | `shortcut_covariance` | ShortCut + Covariance dispersive loss |
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+ | 08 | `meanflow_dispersive` | MeanFlow + dispersive loss |
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+
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+ Examples:
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+
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+ - Weight: `dm1_pretraining_checkpoints/w_0p5/lift/lift_w0p5_05_shortcut_infonce_cosine.pt`
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+ - Evaluation: `dm1_pretraining_eval_results/w_0p5/lift/lift_w0p5_05_shortcut_infonce_cosine_eval.npz`
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+
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+ ## File Counts
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+
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+ - Per w setting: 32 weight files (4 tasks × 8 experiments).
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+ - Per w setting: 32 evaluation files, aligned one-to-one with the weights.
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+
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+ Quick verification commands:
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+
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+ ```bash
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+ find dm1_pretraining_checkpoints/w_0p5 -maxdepth 2 -name '*.pt' | sort
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+ find dm1_pretraining_eval_results/w_0p5 -maxdepth 2 -name '*.npz' | sort
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+ ```
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+
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+ ## Usage Tips
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+
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+ 1. Use the index (01-08) to align weights and evaluations without opening logs.
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+ 2. To compare the same experiment across noise weights, filter by the `*_w0pX_*` substring.
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+ 3. When new experiments or w settings are added, reuse this pattern and update the table above for clarity.
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