| # INTACT without previous-action input |
|
|
| This directory contains 12 independently trained, task-specific E1 |
| checkpoints whose intent actor is history-free in both training and evaluation. |
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|
| ## Actor and evaluation contract |
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|
| - Actor input: `[z_t, m_t, z_t * m_t]` |
| - No previous-action channel, initializer, expert prefix, or dataset-mean token |
| - 7/7 supervision window, 8 frames, terminal goal `z7` |
| - Full data, one epoch, batch 256, BF16 mixed precision, Math SDPA |
| - Official Direct evaluation, `H=5`, `RH=5`, zero search |
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|
| ## Official Direct results |
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|
| | Task | Mean SR (%) | Train-seed sample std (pp) | |
| |---|---:|---:| |
| | PushT | 85.33 | 0.58 | |
| | Cube | 99.44 | 0.38 | |
| | Reacher | 93.44 | 0.38 | |
| | TwoRoom | 98.78 | 0.69 | |
| | **Macro** | **94.25** | **0.08** | |
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|
| The matrix contains 36 evaluations: training seeds `0/42/3072`, evaluation |
| seeds `0/1/42`, four tasks, and 100 episodes per cell. |
|
|
| ## Files |
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|
| - `intact-goal-e1-single-history-free-seed<seed>.tar.gz`: four task shards |
| - `MANIFEST.json`: release contract, aggregate results, and shard hashes |
| - `RESULTS.csv`: complete 36-cell history-free evaluation |
| - `SHA256SUMS`: archive checksums |
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