| --- |
| license: mit |
| tags: |
| - robotics |
| - world-model |
| - jepa |
| - imitation-learning |
| - goal-conditioned-control |
| --- |
| |
| # INTACT Paper Checkpoints |
|
|
| This repository hosts the paper checkpoint matrix for **INTACT: Isomorphic |
| Intent-to-Action Learning for Search-Free World Models**. |
|
|
| - Paper: [arXiv:2607.26056](https://arxiv.org/abs/2607.26056) |
| - Code: [zju3dv/INTACT-JEPA](https://github.com/zju3dv/INTACT-JEPA) |
| - Project page: [zju3dv.github.io/INTACT-JEPA](https://zju3dv.github.io/INTACT-JEPA/) |
| - Frozen model revision: `paper-e5-goal-v1` |
|
|
| ## Contents |
|
|
| The release contains six controlled shared-encoder E5 cells, three training |
| seeds (`0`, `42`, and `3072`), and four task-specific shards per seed (PushT, |
| Cube, Reacher, and TwoRoom): `6 x 3 x 4 = 72` checkpoints. |
|
|
| | Cell | Archive prefix | Native interface | Official macro SR | |
| |---|---|---|---:| |
| | LeWM | `paper-e5-lewm-*` | CEM 300x30 | 66.17 | |
| | Inverse only | `paper-e5-inverse-only-*` | Direct | 56.67 | |
| | Waypoint intent only | `paper-e5-waypoint-intent-only-*` | Direct | 74.22 | |
| | Goal intent only | `paper-e5-goal-intent-only-*` | Direct | 80.61 | |
| | Waypoint INTACT | `paper-e5-waypoint-intact-*` | Direct | 76.42 | |
| | Goal-displacement INTACT | `intact-goal-e5-*` | Direct | **89.39** | |
|
|
| Success rates are percentages averaged over three independently trained seeds. |
| Each checkpoint value averages 100 episodes for evaluation seeds `0`, `1`, and |
| `42`. See `PAPER_E5_MATRIX_MANIFEST.json` for task-level means, sample standard |
| deviations, checkpoint paths, and SHA-256 hashes. Official LeWM and CLEAR-LeWM |
| results are separate protocols and must not be mixed. |
|
|
| ## Recommended download |
|
|
| From the accompanying INTACT source release: |
|
|
| ```bash |
| # One cell, all training seeds. |
| bash scripts/download_paper_checkpoints.sh waypoint_intact all |
| |
| # Complete 72-checkpoint matrix. |
| bash scripts/download_paper_checkpoints.sh matrix all |
| ``` |
|
|
| The wrapper pins `paper-e5-goal-v1`, checks the pinned `SHA256SUMS` record, |
| verifies every downloaded archive, extracts it into `STABLEWM_HOME`, and then |
| verifies every `.pt` shard against the checked-in manifest. |
|
|
| For a direct Hub download: |
|
|
| ```bash |
| hf download INTACT-JEPA/INTACT \ |
| intact-goal-e5-seed3072.tar.gz SHA256SUMS \ |
| --revision paper-e5-goal-v1 --local-dir checkpoints-release |
| |
| cd checkpoints-release |
| sha256sum -c SHA256SUMS --ignore-missing |
| ``` |
|
|
| ## Runtime compatibility |
|
|
| These paper checkpoints use the legacy five-slot Actor checkpoint grammar and |
| must be evaluated with the frozen `paper_runtime/` bundled in the source |
| release. The clean training runtime uses the zero-free four-slot Fig. 1 grammar; |
| the Actor parameter shapes are intentionally incompatible. Use the provided |
| paper evaluation wrappers instead of loading these weights through the clean |
| root runtime. |
|
|
| ## Integrity |
|
|
| - `SHA256SUMS` authenticates all 18 archives. |
| - `PAPER_E5_MATRIX_MANIFEST.json` records all 72 extracted shard hashes. |
| - `RUNTIME_SHA256SUMS` records the frozen evaluator runtime fingerprint. |
|
|
| ## License and citation |
|
|
| The release is provided under the MIT License. Please cite the INTACT paper; |
| the complete BibTeX entry is maintained in the source repository. |
|
|
