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INTACT / INTACT-unified /README.md
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docs: synchronize corrected Unified E5 results
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INTACT Unified E5

This directory contains the complete controlled four-task shared-encoder E5 checkpoint matrix from the INTACT paper. A shared encoder is trained jointly on PushT, Cube, Reacher, and TwoRoom, with task-specific lightweight heads.

Controlled comparison

Cell Archive prefix Native interface Official macro SR
LeWM paper-e5-lewm-* CEM 300x30 66.17
Inverse only paper-e5-inverse-only-* Direct 68.19
Goal intent only paper-e5-goal-intent-only-* Direct 84.92
Goal-displacement INTACT intact-goal-e5-* Direct 91.22

The Goal-displacement INTACT task-level result is:

PushT Cube Reacher TwoRoom Macro SR
86.11 +/- 0.96 100.00 +/- 0.00 97.22 +/- 0.84 81.56 +/- 3.67 91.22 +/- 0.51

Success rates are percentages averaged over training seeds 0/42/3072. Each checkpoint is evaluated on 100 episodes for evaluation seeds 0/1/42; +/- is the sample standard deviation across training-seed means.

These values use the corrected causal-continuation evaluator: the initial actor history contains only strictly pre-start actions, and each action executed by the evaluated policy is appended exactly once. The current values are recorded in AUDITED_RESULTS_20260914.json.

Contents

  • Six archived training cells and three training seeds. The current comparison above reports the four goal-displacement cells used by the revised analysis.
  • Four task-specific checkpoint shards in each archive.
  • 6 x 3 x 4 = 72 checkpoints in total.
  • AUDITED_RESULTS_20260914.json: authoritative corrected-evaluator SR values.
  • PAPER_E5_MATRIX_MANIFEST.json: checkpoint inventory and extracted shard hashes.
  • PAPER_E5_GOAL_MANIFEST.json: Goal-displacement INTACT checkpoint metadata.
  • SHA256SUMS: archive integrity records.
  • RUNTIME_SHA256SUMS: frozen evaluator runtime fingerprint.

Download 

hf download INTACT-JEPA/INTACT --include "INTACT-unified/*" \
  --local-dir checkpoints-release

cd checkpoints-release/INTACT-unified
sha256sum -c SHA256SUMS

These paper checkpoints use the frozen paper runtime and legacy Actor checkpoint grammar. Use the paper evaluation wrappers supplied by the INTACT source release; the weights are intentionally separate from the current clean E1 runtime.

The immutable original release remains available at paper-e5-goal-v1.