models: restore unified E5 checkpoint matrix
Browse filesExpose the frozen four-task shared-encoder E5 paper matrix under INTACT-unified, including all six controlled cells, 18 archives, 72 task shards, manifests, checksums, and matched model comparisons.
- INTACT-unified/PAPER_E5_GOAL_MANIFEST.json +76 -0
- INTACT-unified/PAPER_E5_MATRIX_MANIFEST.json +836 -0
- INTACT-unified/README.md +53 -0
- INTACT-unified/RUNTIME_SHA256SUMS +5 -0
- INTACT-unified/SHA256SUMS +18 -0
- INTACT-unified/intact-goal-e5-seed0.tar.gz +3 -0
- INTACT-unified/intact-goal-e5-seed3072.tar.gz +3 -0
- INTACT-unified/intact-goal-e5-seed42.tar.gz +3 -0
- INTACT-unified/paper-e5-goal-intent-only-seed0.tar.gz +3 -0
- INTACT-unified/paper-e5-goal-intent-only-seed3072.tar.gz +3 -0
- INTACT-unified/paper-e5-goal-intent-only-seed42.tar.gz +3 -0
- INTACT-unified/paper-e5-inverse-only-seed0.tar.gz +3 -0
- INTACT-unified/paper-e5-inverse-only-seed3072.tar.gz +3 -0
- INTACT-unified/paper-e5-inverse-only-seed42.tar.gz +3 -0
- INTACT-unified/paper-e5-lewm-seed0.tar.gz +3 -0
- INTACT-unified/paper-e5-lewm-seed3072.tar.gz +3 -0
- INTACT-unified/paper-e5-lewm-seed42.tar.gz +3 -0
- INTACT-unified/paper-e5-waypoint-intact-seed0.tar.gz +3 -0
- INTACT-unified/paper-e5-waypoint-intact-seed3072.tar.gz +3 -0
- INTACT-unified/paper-e5-waypoint-intact-seed42.tar.gz +3 -0
- INTACT-unified/paper-e5-waypoint-intent-only-seed0.tar.gz +3 -0
- INTACT-unified/paper-e5-waypoint-intent-only-seed3072.tar.gz +3 -0
- INTACT-unified/paper-e5-waypoint-intent-only-seed42.tar.gz +3 -0
- README.md +29 -9
INTACT-unified/PAPER_E5_GOAL_MANIFEST.json
ADDED
|
@@ -0,0 +1,76 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"release": {
|
| 4 |
+
"provider": "huggingface",
|
| 5 |
+
"repository": "INTACT-JEPA/INTACT",
|
| 6 |
+
"revision": "paper-e5-goal-v1"
|
| 7 |
+
},
|
| 8 |
+
"model": {
|
| 9 |
+
"name": "Goal-displacement INTACT",
|
| 10 |
+
"epoch": 5,
|
| 11 |
+
"shared_encoder": true,
|
| 12 |
+
"latent_dim": 192,
|
| 13 |
+
"backbone": "ViT-Tiny/14",
|
| 14 |
+
"actor_layout": "delta_condition_product",
|
| 15 |
+
"sdpa_backend": "MATH",
|
| 16 |
+
"loss_weights": {
|
| 17 |
+
"forward": 1.0,
|
| 18 |
+
"inverse": 0.1,
|
| 19 |
+
"query": 0.05,
|
| 20 |
+
"sigreg": 0.03
|
| 21 |
+
}
|
| 22 |
+
},
|
| 23 |
+
"evaluation": {
|
| 24 |
+
"interface": "Direct",
|
| 25 |
+
"candidate_sequences": 0,
|
| 26 |
+
"terminal_cost_calls": 0,
|
| 27 |
+
"evaluation_seeds": [0, 1, 42],
|
| 28 |
+
"episodes_per_evaluation_seed": 100,
|
| 29 |
+
"evaluator_fingerprint_sha256": "1e475a069338bdad6c9e6a38b8ea4e2d5557ecc4cff88844e5efee79121a9fc7",
|
| 30 |
+
"aggregate_official_sr_percent": {
|
| 31 |
+
"pusht": {"mean": 80.2222222222, "sample_std": 1.2619796324},
|
| 32 |
+
"cube": {"mean": 99.5555555556, "sample_std": 0.7698003589},
|
| 33 |
+
"reacher": {"mean": 95.6666666667, "sample_std": 1.7638342074},
|
| 34 |
+
"tworoom": {"mean": 82.1111111111, "sample_std": 4.1141130181},
|
| 35 |
+
"macro": {"mean": 89.3888888889, "sample_std": 0.7742977703}
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"training_seeds": [
|
| 39 |
+
{
|
| 40 |
+
"seed": 0,
|
| 41 |
+
"asset": "intact-goal-e5-seed0.tar.gz",
|
| 42 |
+
"shared_state_sha256": "05c6b2f030c11698038134789e02ad00bc6d01e50aebb56910de05dfaf2d5178",
|
| 43 |
+
"official_direct_sr_percent": {"pusht": 79.3333333333, "cube": 100.0, "reacher": 93.6666666667, "tworoom": 86.6666666667, "macro": 89.9166666667},
|
| 44 |
+
"shards": [
|
| 45 |
+
{"task": "pusht", "path": "checkpoints/recovery_delta_full_pusht_s0/weights_epoch_5.pt", "bytes": 84734848, "sha256": "80312771c15e50ba4b3eb3eb9a910fe6dc0a3bd140f7df1396eea306bf89d012"},
|
| 46 |
+
{"task": "cube", "path": "checkpoints/recovery_delta_full_cube_s0/weights_epoch_5.pt", "bytes": 84858432, "sha256": "96a4d525e996c2b78fa384873496396024364850ad4af0003274b8c1426ea270"},
|
| 47 |
+
{"task": "reacher", "path": "checkpoints/recovery_delta_full_reacher_s0/weights_epoch_5.pt", "bytes": 84734848, "sha256": "9b2d77168f269f0e13a1aa719548a7054dd57bd78cf6c8da6553ec5b33d049fe"},
|
| 48 |
+
{"task": "tworoom", "path": "checkpoints/recovery_delta_full_tworoom_s0/weights_epoch_5.pt", "bytes": 84734848, "sha256": "93ed1ef36e59075f39fb5d2ea9f4e25ded824ee2d57496b39bbdb372bad0392a"}
|
| 49 |
+
]
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"seed": 42,
|
| 53 |
+
"asset": "intact-goal-e5-seed42.tar.gz",
|
| 54 |
+
"shared_state_sha256": "e8adcbe1c27a564b3be8193c1ce0737a50247686e647e544f9985856d635661d",
|
| 55 |
+
"official_direct_sr_percent": {"pusht": 81.6666666667, "cube": 100.0, "reacher": 96.3333333333, "tworoom": 81.0, "macro": 89.75},
|
| 56 |
+
"shards": [
|
| 57 |
+
{"task": "pusht", "path": "checkpoints/recovery_delta_full_pusht_s42/weights_epoch_5.pt", "bytes": 84734848, "sha256": "fbcf4dd23eb1ffefdde3ec133609ff00eba4774bd8a697ef3e1586b0fdca917d"},
|
| 58 |
+
{"task": "cube", "path": "checkpoints/recovery_delta_full_cube_s42/weights_epoch_5.pt", "bytes": 84858432, "sha256": "d155d9d0c71cc48614d822b14456f341748a25524c7a899b959a54312755e94a"},
|
| 59 |
+
{"task": "reacher", "path": "checkpoints/recovery_delta_full_reacher_s42/weights_epoch_5.pt", "bytes": 84734848, "sha256": "3ff3fc512185451728c97b63b66272a584989c01834267463107cd95f845f5f9"},
|
| 60 |
+
{"task": "tworoom", "path": "checkpoints/recovery_delta_full_tworoom_s42/weights_epoch_5.pt", "bytes": 84734848, "sha256": "5b86d5ca2f45ac65873c578553d683305478d6d5fe38a72f4d5b93d1a5027082"}
|
| 61 |
+
]
|
| 62 |
+
},
|
| 63 |
+
{
|
| 64 |
+
"seed": 3072,
|
| 65 |
+
"asset": "intact-goal-e5-seed3072.tar.gz",
|
| 66 |
+
"shared_state_sha256": "7cf4b0ca65011c7f54bcabdfe6664e9c82fe650e13656fbb4fe0351c582e65b8",
|
| 67 |
+
"official_direct_sr_percent": {"pusht": 79.6666666667, "cube": 98.6666666667, "reacher": 97.0, "tworoom": 78.6666666667, "macro": 88.5},
|
| 68 |
+
"shards": [
|
| 69 |
+
{"task": "pusht", "path": "checkpoints/recovery_delta_full_pusht_s3072/weights_epoch_5.pt", "bytes": 84734848, "sha256": "24a598acac5faa1e6e548e84c4d17bd79d9e9e48aae38eee384a92ce3269b590"},
|
| 70 |
+
{"task": "cube", "path": "checkpoints/recovery_delta_full_cube_s3072/weights_epoch_5.pt", "bytes": 84858432, "sha256": "d2abfd5d907491cf770cc9d3f5bd003f53d0d16f01ac4732111b9dc459895f07"},
|
| 71 |
+
{"task": "reacher", "path": "checkpoints/recovery_delta_full_reacher_s3072/weights_epoch_5.pt", "bytes": 84734848, "sha256": "5d0cdd0e9ce2fa187b552cc0ef8930c7ead6bdaaf04cc9bb4d2381b720ab0009"},
|
| 72 |
+
{"task": "tworoom", "path": "checkpoints/recovery_delta_full_tworoom_s3072/weights_epoch_5.pt", "bytes": 84734848, "sha256": "42eea9823bbb13ed3779c25dcc3f18cb9a461f1c7dff9dc803c741fa321b4a6e"}
|
| 73 |
+
]
|
| 74 |
+
}
|
| 75 |
+
]
|
| 76 |
+
}
|
INTACT-unified/PAPER_E5_MATRIX_MANIFEST.json
ADDED
|
@@ -0,0 +1,836 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"release": {
|
| 4 |
+
"provider": "huggingface",
|
| 5 |
+
"repository": "INTACT-JEPA/INTACT",
|
| 6 |
+
"revision": "paper-e5-goal-v1"
|
| 7 |
+
},
|
| 8 |
+
"protocol": {
|
| 9 |
+
"name": "Controlled Math-SDPA shared-encoder E5 matrix",
|
| 10 |
+
"epoch": 5,
|
| 11 |
+
"training_seeds": [
|
| 12 |
+
0,
|
| 13 |
+
42,
|
| 14 |
+
3072
|
| 15 |
+
],
|
| 16 |
+
"evaluation_seeds": [
|
| 17 |
+
0,
|
| 18 |
+
1,
|
| 19 |
+
42
|
| 20 |
+
],
|
| 21 |
+
"episodes_per_evaluation_seed": 100,
|
| 22 |
+
"tasks": [
|
| 23 |
+
"pusht",
|
| 24 |
+
"cube",
|
| 25 |
+
"reacher",
|
| 26 |
+
"tworoom"
|
| 27 |
+
],
|
| 28 |
+
"evaluator_fingerprint_sha256": "1e475a069338bdad6c9e6a38b8ea4e2d5557ecc4cff88844e5efee79121a9fc7"
|
| 29 |
+
},
|
| 30 |
+
"cells": [
|
| 31 |
+
{
|
| 32 |
+
"id": "lewm",
|
| 33 |
+
"name": "LeWM",
|
| 34 |
+
"native_interface": "CEM 300x30",
|
| 35 |
+
"aggregate_official_sr_percent": {
|
| 36 |
+
"pusht": {
|
| 37 |
+
"mean": 74.56,
|
| 38 |
+
"sample_std": 3.67
|
| 39 |
+
},
|
| 40 |
+
"cube": {
|
| 41 |
+
"mean": 67.33,
|
| 42 |
+
"sample_std": 1.86
|
| 43 |
+
},
|
| 44 |
+
"reacher": {
|
| 45 |
+
"mean": 83.11,
|
| 46 |
+
"sample_std": 0.96
|
| 47 |
+
},
|
| 48 |
+
"tworoom": {
|
| 49 |
+
"mean": 39.67,
|
| 50 |
+
"sample_std": 8.39
|
| 51 |
+
},
|
| 52 |
+
"macro": {
|
| 53 |
+
"mean": 66.17,
|
| 54 |
+
"sample_std": 2.67
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"training_seeds": [
|
| 58 |
+
{
|
| 59 |
+
"seed": 0,
|
| 60 |
+
"asset": "paper-e5-lewm-seed0.tar.gz",
|
| 61 |
+
"shared_state_sha256": "91c0a461862524a8fd60e2aca15e5c4c543608ac845a7d650df7045c3a4f0cbf",
|
| 62 |
+
"shards": [
|
| 63 |
+
{
|
| 64 |
+
"task": "pusht",
|
| 65 |
+
"path": "checkpoints/recovery_lewm_pusht_s0/weights_epoch_5.pt",
|
| 66 |
+
"bytes": 84734848,
|
| 67 |
+
"sha256": "cddfa64f268f19774f716db1501e2c54bccd44ca0cd6f0995d23d115fc574c45",
|
| 68 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"task": "cube",
|
| 72 |
+
"path": "checkpoints/recovery_lewm_cube_s0/weights_epoch_5.pt",
|
| 73 |
+
"bytes": 84858432,
|
| 74 |
+
"sha256": "9e5964f379b8fe0cb578b4fb14332f90e19eb14b1103c0050be08e362ac8f6d5",
|
| 75 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"task": "reacher",
|
| 79 |
+
"path": "checkpoints/recovery_lewm_reacher_s0/weights_epoch_5.pt",
|
| 80 |
+
"bytes": 84734848,
|
| 81 |
+
"sha256": "a2733bc3ad7f7bede38960e92f4aa4a000adf5530c58bc33e2eb366749a8b7f7",
|
| 82 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"task": "tworoom",
|
| 86 |
+
"path": "checkpoints/recovery_lewm_tworoom_s0/weights_epoch_5.pt",
|
| 87 |
+
"bytes": 84734848,
|
| 88 |
+
"sha256": "e9e613324a6e9e115fb62531f7ead92c2ad232b80f2e640bae5ebb2073e90692",
|
| 89 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 90 |
+
}
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"seed": 42,
|
| 95 |
+
"asset": "paper-e5-lewm-seed42.tar.gz",
|
| 96 |
+
"shared_state_sha256": "93bf828094a3a42c39ace2573303ead33d2dd1153d42bb53ad6478cc816c6b0d",
|
| 97 |
+
"shards": [
|
| 98 |
+
{
|
| 99 |
+
"task": "pusht",
|
| 100 |
+
"path": "checkpoints/recovery_lewm_pusht_s42/weights_epoch_5.pt",
|
| 101 |
+
"bytes": 84734848,
|
| 102 |
+
"sha256": "2e3839ec2ae5e0e702b646fca2f7d86e06b97f1c4f01e2dcfd095a8278eaef42",
|
| 103 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"task": "cube",
|
| 107 |
+
"path": "checkpoints/recovery_lewm_cube_s42/weights_epoch_5.pt",
|
| 108 |
+
"bytes": 84858432,
|
| 109 |
+
"sha256": "4a2e49e300c4baffd2c758861cb95205d2129ca0408ac31c06e554871677a293",
|
| 110 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"task": "reacher",
|
| 114 |
+
"path": "checkpoints/recovery_lewm_reacher_s42/weights_epoch_5.pt",
|
| 115 |
+
"bytes": 84734848,
|
| 116 |
+
"sha256": "71cb932dd2a0e10da6f1b8e9faab3c2c1e70686049bd1130e210e794917f7abe",
|
| 117 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 118 |
+
},
|
| 119 |
+
{
|
| 120 |
+
"task": "tworoom",
|
| 121 |
+
"path": "checkpoints/recovery_lewm_tworoom_s42/weights_epoch_5.pt",
|
| 122 |
+
"bytes": 84734848,
|
| 123 |
+
"sha256": "04753f218c257cfbce2ae74949c2c585b47c170c910b7966d7dc107ae08d628a",
|
| 124 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 125 |
+
}
|
| 126 |
+
]
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"seed": 3072,
|
| 130 |
+
"asset": "paper-e5-lewm-seed3072.tar.gz",
|
| 131 |
+
"shared_state_sha256": "ecac1a92350588be010b07da5b72ec43c29f927830e94beb75fa82ce5d0edd7a",
|
| 132 |
+
"shards": [
|
| 133 |
+
{
|
| 134 |
+
"task": "pusht",
|
| 135 |
+
"path": "checkpoints/recovery_lewm_pusht_s3072/weights_epoch_5.pt",
|
| 136 |
+
"bytes": 84734848,
|
| 137 |
+
"sha256": "ca7dce83105678668f7d300ad34bb860aae5a0976f553441ff13a2a3819bb3a9",
|
| 138 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"task": "cube",
|
| 142 |
+
"path": "checkpoints/recovery_lewm_cube_s3072/weights_epoch_5.pt",
|
| 143 |
+
"bytes": 84858432,
|
| 144 |
+
"sha256": "cba5cce3f78ccffcb9781f6113e4788c94bdfc8a3d83725ff4b1dc40bcd22757",
|
| 145 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"task": "reacher",
|
| 149 |
+
"path": "checkpoints/recovery_lewm_reacher_s3072/weights_epoch_5.pt",
|
| 150 |
+
"bytes": 84734848,
|
| 151 |
+
"sha256": "09083771148dfb49a49934473eafcb5664b8e71d39c49075d05d79b0281e8d0a",
|
| 152 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"task": "tworoom",
|
| 156 |
+
"path": "checkpoints/recovery_lewm_tworoom_s3072/weights_epoch_5.pt",
|
| 157 |
+
"bytes": 84734848,
|
| 158 |
+
"sha256": "56591e083b68c48d26c9f0b792940376ddc27cb2125fe3aee75e3ac9050fd0d7",
|
| 159 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 160 |
+
}
|
| 161 |
+
]
|
| 162 |
+
}
|
| 163 |
+
]
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"id": "inverse_only",
|
| 167 |
+
"name": "Inverse only",
|
| 168 |
+
"native_interface": "Direct",
|
| 169 |
+
"aggregate_official_sr_percent": {
|
| 170 |
+
"pusht": {
|
| 171 |
+
"mean": 35.0,
|
| 172 |
+
"sample_std": 1.45
|
| 173 |
+
},
|
| 174 |
+
"cube": {
|
| 175 |
+
"mean": 61.89,
|
| 176 |
+
"sample_std": 1.26
|
| 177 |
+
},
|
| 178 |
+
"reacher": {
|
| 179 |
+
"mean": 61.0,
|
| 180 |
+
"sample_std": 0.58
|
| 181 |
+
},
|
| 182 |
+
"tworoom": {
|
| 183 |
+
"mean": 68.78,
|
| 184 |
+
"sample_std": 3.83
|
| 185 |
+
},
|
| 186 |
+
"macro": {
|
| 187 |
+
"mean": 56.67,
|
| 188 |
+
"sample_std": 0.22
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"training_seeds": [
|
| 192 |
+
{
|
| 193 |
+
"seed": 0,
|
| 194 |
+
"asset": "paper-e5-inverse-only-seed0.tar.gz",
|
| 195 |
+
"shared_state_sha256": "7f91114f987e80d26d5c00ee3c7bcc956d2d771621c54e068d498b34ff21d90b",
|
| 196 |
+
"shards": [
|
| 197 |
+
{
|
| 198 |
+
"task": "pusht",
|
| 199 |
+
"path": "checkpoints/recovery_inverse_only_pusht_s0/weights_epoch_5.pt",
|
| 200 |
+
"bytes": 84734848,
|
| 201 |
+
"sha256": "72be14804aade90c4f97d3aec4412d6e7aca0b29163739fc3bab0871c9f9112e",
|
| 202 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"task": "cube",
|
| 206 |
+
"path": "checkpoints/recovery_inverse_only_cube_s0/weights_epoch_5.pt",
|
| 207 |
+
"bytes": 84858432,
|
| 208 |
+
"sha256": "2b05f65acbc9c8a7310eb6fe09eeabe140224dba66c1cfef2099925918c5b416",
|
| 209 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 210 |
+
},
|
| 211 |
+
{
|
| 212 |
+
"task": "reacher",
|
| 213 |
+
"path": "checkpoints/recovery_inverse_only_reacher_s0/weights_epoch_5.pt",
|
| 214 |
+
"bytes": 84734848,
|
| 215 |
+
"sha256": "d4d489f961bc694832628ab9408ea97b07d5d60f6a3f127c3a17f172d26ab45a",
|
| 216 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 217 |
+
},
|
| 218 |
+
{
|
| 219 |
+
"task": "tworoom",
|
| 220 |
+
"path": "checkpoints/recovery_inverse_only_tworoom_s0/weights_epoch_5.pt",
|
| 221 |
+
"bytes": 84734848,
|
| 222 |
+
"sha256": "c0981915fdf21922a126606c64fdfad259bb88b0fe285f17f697d6afbe667d88",
|
| 223 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 224 |
+
}
|
| 225 |
+
]
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"seed": 42,
|
| 229 |
+
"asset": "paper-e5-inverse-only-seed42.tar.gz",
|
| 230 |
+
"shared_state_sha256": "6b1d5dd53266f0a26dddff12f6aaa1c0f3874465c851430e73be4ba50b61ee07",
|
| 231 |
+
"shards": [
|
| 232 |
+
{
|
| 233 |
+
"task": "pusht",
|
| 234 |
+
"path": "checkpoints/recovery_inverse_only_pusht_s42/weights_epoch_5.pt",
|
| 235 |
+
"bytes": 84734848,
|
| 236 |
+
"sha256": "350d616be633085968c1e387c2289ee5db3c01646af554837e95a687a4f3215b",
|
| 237 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 238 |
+
},
|
| 239 |
+
{
|
| 240 |
+
"task": "cube",
|
| 241 |
+
"path": "checkpoints/recovery_inverse_only_cube_s42/weights_epoch_5.pt",
|
| 242 |
+
"bytes": 84858432,
|
| 243 |
+
"sha256": "e3e1bc400ca7e8c09d89da2af633adc00d9ccf261bddae839878a3734097ae73",
|
| 244 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 245 |
+
},
|
| 246 |
+
{
|
| 247 |
+
"task": "reacher",
|
| 248 |
+
"path": "checkpoints/recovery_inverse_only_reacher_s42/weights_epoch_5.pt",
|
| 249 |
+
"bytes": 84734848,
|
| 250 |
+
"sha256": "7ec1712bc71e304669bbdcc7f90dcffd647428e83478164b81f9d3a337915215",
|
| 251 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"task": "tworoom",
|
| 255 |
+
"path": "checkpoints/recovery_inverse_only_tworoom_s42/weights_epoch_5.pt",
|
| 256 |
+
"bytes": 84734848,
|
| 257 |
+
"sha256": "7b60933b8480017291612bcfc4c7bbefd343dc608ebb3ae21f244fa5af253cc6",
|
| 258 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 259 |
+
}
|
| 260 |
+
]
|
| 261 |
+
},
|
| 262 |
+
{
|
| 263 |
+
"seed": 3072,
|
| 264 |
+
"asset": "paper-e5-inverse-only-seed3072.tar.gz",
|
| 265 |
+
"shared_state_sha256": "0cd266d67092993c646f2d5ef3f81b007e294891873fc68a1d10ad9ba4937b4f",
|
| 266 |
+
"shards": [
|
| 267 |
+
{
|
| 268 |
+
"task": "pusht",
|
| 269 |
+
"path": "checkpoints/recovery_inverse_only_pusht_s3072/weights_epoch_5.pt",
|
| 270 |
+
"bytes": 84734848,
|
| 271 |
+
"sha256": "8275a6e231805e8f6d4f164fa6c59a7beb78808b2cdd276ed0634a22ec5f5d74",
|
| 272 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"task": "cube",
|
| 276 |
+
"path": "checkpoints/recovery_inverse_only_cube_s3072/weights_epoch_5.pt",
|
| 277 |
+
"bytes": 84858432,
|
| 278 |
+
"sha256": "459b5b31d7bd70a2f605ed618e69d7a88a4a56e13f7568c6b69b340545afcc28",
|
| 279 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"task": "reacher",
|
| 283 |
+
"path": "checkpoints/recovery_inverse_only_reacher_s3072/weights_epoch_5.pt",
|
| 284 |
+
"bytes": 84734848,
|
| 285 |
+
"sha256": "3385b403829048c0fe5bef3e3971702a8ba683377322a22f9093f4fa4743a4de",
|
| 286 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"task": "tworoom",
|
| 290 |
+
"path": "checkpoints/recovery_inverse_only_tworoom_s3072/weights_epoch_5.pt",
|
| 291 |
+
"bytes": 84734848,
|
| 292 |
+
"sha256": "b1e1cf1b34c72f21ce4af941383da471aa376e8b8e937d5266bc6ccd67d6e6f8",
|
| 293 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 294 |
+
}
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
]
|
| 298 |
+
},
|
| 299 |
+
{
|
| 300 |
+
"id": "waypoint_intent",
|
| 301 |
+
"name": "Waypoint intent only",
|
| 302 |
+
"native_interface": "Direct",
|
| 303 |
+
"aggregate_official_sr_percent": {
|
| 304 |
+
"pusht": {
|
| 305 |
+
"mean": 58.89,
|
| 306 |
+
"sample_std": 0.69
|
| 307 |
+
},
|
| 308 |
+
"cube": {
|
| 309 |
+
"mean": 100.0,
|
| 310 |
+
"sample_std": 0.0
|
| 311 |
+
},
|
| 312 |
+
"reacher": {
|
| 313 |
+
"mean": 65.89,
|
| 314 |
+
"sample_std": 6.71
|
| 315 |
+
},
|
| 316 |
+
"tworoom": {
|
| 317 |
+
"mean": 72.11,
|
| 318 |
+
"sample_std": 9.83
|
| 319 |
+
},
|
| 320 |
+
"macro": {
|
| 321 |
+
"mean": 74.22,
|
| 322 |
+
"sample_std": 3.23
|
| 323 |
+
}
|
| 324 |
+
},
|
| 325 |
+
"training_seeds": [
|
| 326 |
+
{
|
| 327 |
+
"seed": 0,
|
| 328 |
+
"asset": "paper-e5-waypoint-intent-only-seed0.tar.gz",
|
| 329 |
+
"shared_state_sha256": "0cc8a792adf857bc1f9d2b9579861a36a40d51200951b158cad9fb3d2ca800e0",
|
| 330 |
+
"shards": [
|
| 331 |
+
{
|
| 332 |
+
"task": "pusht",
|
| 333 |
+
"path": "checkpoints/recovery_query_only_pusht_s0/weights_epoch_5.pt",
|
| 334 |
+
"bytes": 84734848,
|
| 335 |
+
"sha256": "af987d8f0035f1abd455e03e3324d2c2ff266ef991308a1b57a173c35bd9fa33",
|
| 336 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 337 |
+
},
|
| 338 |
+
{
|
| 339 |
+
"task": "cube",
|
| 340 |
+
"path": "checkpoints/recovery_query_only_cube_s0/weights_epoch_5.pt",
|
| 341 |
+
"bytes": 84858432,
|
| 342 |
+
"sha256": "eb15f3b7ae2688c1b3aaaf7957d208702fa562013f9c5853ca7152be5a1e2941",
|
| 343 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 344 |
+
},
|
| 345 |
+
{
|
| 346 |
+
"task": "reacher",
|
| 347 |
+
"path": "checkpoints/recovery_query_only_reacher_s0/weights_epoch_5.pt",
|
| 348 |
+
"bytes": 84734848,
|
| 349 |
+
"sha256": "69eea075be82715f4d40f6c8b88e4ca2f1e74742861e03277a04d921b86f11d0",
|
| 350 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"task": "tworoom",
|
| 354 |
+
"path": "checkpoints/recovery_query_only_tworoom_s0/weights_epoch_5.pt",
|
| 355 |
+
"bytes": 84734848,
|
| 356 |
+
"sha256": "3a291aa747c4b585bfa493a5b70ee82ec03a4690be06aa46911490e1cfd9b778",
|
| 357 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 358 |
+
}
|
| 359 |
+
]
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"seed": 42,
|
| 363 |
+
"asset": "paper-e5-waypoint-intent-only-seed42.tar.gz",
|
| 364 |
+
"shared_state_sha256": "8db87dfe169abf481661237cc199fea02048fc389357e6d08ad1d7fa103cb0df",
|
| 365 |
+
"shards": [
|
| 366 |
+
{
|
| 367 |
+
"task": "pusht",
|
| 368 |
+
"path": "checkpoints/recovery_query_only_pusht_s42/weights_epoch_5.pt",
|
| 369 |
+
"bytes": 84734848,
|
| 370 |
+
"sha256": "0a55d63ec82cd279fa596c0f6cabe1b9a0115dd9d07519eaca3a830165e9b027",
|
| 371 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 372 |
+
},
|
| 373 |
+
{
|
| 374 |
+
"task": "cube",
|
| 375 |
+
"path": "checkpoints/recovery_query_only_cube_s42/weights_epoch_5.pt",
|
| 376 |
+
"bytes": 84858432,
|
| 377 |
+
"sha256": "b4006593d887993ba05086d68e955e5819a5965bded01a32e41e717b0f400226",
|
| 378 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 379 |
+
},
|
| 380 |
+
{
|
| 381 |
+
"task": "reacher",
|
| 382 |
+
"path": "checkpoints/recovery_query_only_reacher_s42/weights_epoch_5.pt",
|
| 383 |
+
"bytes": 84734848,
|
| 384 |
+
"sha256": "d6af422a98836e34e8b55eaadb12cf04217fd9654be631519eef515e64de0e0b",
|
| 385 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 386 |
+
},
|
| 387 |
+
{
|
| 388 |
+
"task": "tworoom",
|
| 389 |
+
"path": "checkpoints/recovery_query_only_tworoom_s42/weights_epoch_5.pt",
|
| 390 |
+
"bytes": 84734848,
|
| 391 |
+
"sha256": "33221ced3c1512509436f7e09853c534b8439d3c57fde1c1862f2af13766ae5d",
|
| 392 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 393 |
+
}
|
| 394 |
+
]
|
| 395 |
+
},
|
| 396 |
+
{
|
| 397 |
+
"seed": 3072,
|
| 398 |
+
"asset": "paper-e5-waypoint-intent-only-seed3072.tar.gz",
|
| 399 |
+
"shared_state_sha256": "c31f820e9ac636e2a96266c0128dcc8d3cd0741678e4423dc597634d700e301b",
|
| 400 |
+
"shards": [
|
| 401 |
+
{
|
| 402 |
+
"task": "pusht",
|
| 403 |
+
"path": "checkpoints/recovery_query_only_pusht_s3072/weights_epoch_5.pt",
|
| 404 |
+
"bytes": 84734848,
|
| 405 |
+
"sha256": "0a53fbc375c0f1622192a041a628c65d1e0d7f8f4b6fdbdc60a283d41d2367a7",
|
| 406 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 407 |
+
},
|
| 408 |
+
{
|
| 409 |
+
"task": "cube",
|
| 410 |
+
"path": "checkpoints/recovery_query_only_cube_s3072/weights_epoch_5.pt",
|
| 411 |
+
"bytes": 84858432,
|
| 412 |
+
"sha256": "4256b9c307e94f08eaed6817e2cd25ec368fc219d0e8de23b3e902934b66d9be",
|
| 413 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 414 |
+
},
|
| 415 |
+
{
|
| 416 |
+
"task": "reacher",
|
| 417 |
+
"path": "checkpoints/recovery_query_only_reacher_s3072/weights_epoch_5.pt",
|
| 418 |
+
"bytes": 84734848,
|
| 419 |
+
"sha256": "b426612f6f71af07c85099949f89294b969d3fc8e6aab327152d021538593bb1",
|
| 420 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 421 |
+
},
|
| 422 |
+
{
|
| 423 |
+
"task": "tworoom",
|
| 424 |
+
"path": "checkpoints/recovery_query_only_tworoom_s3072/weights_epoch_5.pt",
|
| 425 |
+
"bytes": 84734848,
|
| 426 |
+
"sha256": "f8b36c5d9c17d705faae37f4da9c41dbc4e7d509c6e22ec5e592675418a94e3c",
|
| 427 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 428 |
+
}
|
| 429 |
+
]
|
| 430 |
+
}
|
| 431 |
+
]
|
| 432 |
+
},
|
| 433 |
+
{
|
| 434 |
+
"id": "goal_intent",
|
| 435 |
+
"name": "Goal intent only",
|
| 436 |
+
"native_interface": "Direct",
|
| 437 |
+
"aggregate_official_sr_percent": {
|
| 438 |
+
"pusht": {
|
| 439 |
+
"mean": 70.67,
|
| 440 |
+
"sample_std": 1.76
|
| 441 |
+
},
|
| 442 |
+
"cube": {
|
| 443 |
+
"mean": 100.0,
|
| 444 |
+
"sample_std": 0.0
|
| 445 |
+
},
|
| 446 |
+
"reacher": {
|
| 447 |
+
"mean": 82.33,
|
| 448 |
+
"sample_std": 3.18
|
| 449 |
+
},
|
| 450 |
+
"tworoom": {
|
| 451 |
+
"mean": 69.44,
|
| 452 |
+
"sample_std": 6.75
|
| 453 |
+
},
|
| 454 |
+
"macro": {
|
| 455 |
+
"mean": 80.61,
|
| 456 |
+
"sample_std": 2.11
|
| 457 |
+
}
|
| 458 |
+
},
|
| 459 |
+
"training_seeds": [
|
| 460 |
+
{
|
| 461 |
+
"seed": 0,
|
| 462 |
+
"asset": "paper-e5-goal-intent-only-seed0.tar.gz",
|
| 463 |
+
"shared_state_sha256": "fb667916a99b7278d52ecdcb29ca2e70755dbe31d814ac22c5c126a4669831d3",
|
| 464 |
+
"shards": [
|
| 465 |
+
{
|
| 466 |
+
"task": "pusht",
|
| 467 |
+
"path": "checkpoints/recovery_delta_query_only_pusht_s0/weights_epoch_5.pt",
|
| 468 |
+
"bytes": 84734848,
|
| 469 |
+
"sha256": "edcc755148ef6db7b162f40c6a3a8ad7e37020236abc7ae7a31eec3b3ef98b3f",
|
| 470 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 471 |
+
},
|
| 472 |
+
{
|
| 473 |
+
"task": "cube",
|
| 474 |
+
"path": "checkpoints/recovery_delta_query_only_cube_s0/weights_epoch_5.pt",
|
| 475 |
+
"bytes": 84858432,
|
| 476 |
+
"sha256": "56ef387e5d7117a7dda9ec207d31f1940db3a897f0823ee04aeee1d235e7e004",
|
| 477 |
+
"config_sha256": "0425c622ba7f6c40b0af9259cf6266dec358d21acb55846f9ac77223ab92b708"
|
| 478 |
+
},
|
| 479 |
+
{
|
| 480 |
+
"task": "reacher",
|
| 481 |
+
"path": "checkpoints/recovery_delta_query_only_reacher_s0/weights_epoch_5.pt",
|
| 482 |
+
"bytes": 84734848,
|
| 483 |
+
"sha256": "7850f69a12fdb7ce52afd1d3a0bb9caa9f1e5c7e60ee4e1acf9b1a9a401286ae",
|
| 484 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 485 |
+
},
|
| 486 |
+
{
|
| 487 |
+
"task": "tworoom",
|
| 488 |
+
"path": "checkpoints/recovery_delta_query_only_tworoom_s0/weights_epoch_5.pt",
|
| 489 |
+
"bytes": 84734848,
|
| 490 |
+
"sha256": "c5b3e31147b15c18e3a592d0baf7dee174bb083dbcf15495b9339621bcfc7486",
|
| 491 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 492 |
+
}
|
| 493 |
+
]
|
| 494 |
+
},
|
| 495 |
+
{
|
| 496 |
+
"seed": 42,
|
| 497 |
+
"asset": "paper-e5-goal-intent-only-seed42.tar.gz",
|
| 498 |
+
"shared_state_sha256": "c53aab8eb3684fefdea10971213e06c8f91d8d21fa4e17b37f544e69ff1ad494",
|
| 499 |
+
"shards": [
|
| 500 |
+
{
|
| 501 |
+
"task": "pusht",
|
| 502 |
+
"path": "checkpoints/recovery_delta_query_only_pusht_s42/weights_epoch_5.pt",
|
| 503 |
+
"bytes": 84734848,
|
| 504 |
+
"sha256": "c7fc4748e76c87e002c46e06275963285ac43cf031d9cdb6c8973b15dddb2c6b",
|
| 505 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 506 |
+
},
|
| 507 |
+
{
|
| 508 |
+
"task": "cube",
|
| 509 |
+
"path": "checkpoints/recovery_delta_query_only_cube_s42/weights_epoch_5.pt",
|
| 510 |
+
"bytes": 84858432,
|
| 511 |
+
"sha256": "89cfee11ed761696d84f9d21bd3917c82fe76ee02e7f7cae107bc09ddff82282",
|
| 512 |
+
"config_sha256": "0425c622ba7f6c40b0af9259cf6266dec358d21acb55846f9ac77223ab92b708"
|
| 513 |
+
},
|
| 514 |
+
{
|
| 515 |
+
"task": "reacher",
|
| 516 |
+
"path": "checkpoints/recovery_delta_query_only_reacher_s42/weights_epoch_5.pt",
|
| 517 |
+
"bytes": 84734848,
|
| 518 |
+
"sha256": "ff2d69af3fd62d0b0762318a3b19003e382b317ed4a8257d0ce1e5cbbfc58362",
|
| 519 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 520 |
+
},
|
| 521 |
+
{
|
| 522 |
+
"task": "tworoom",
|
| 523 |
+
"path": "checkpoints/recovery_delta_query_only_tworoom_s42/weights_epoch_5.pt",
|
| 524 |
+
"bytes": 84734848,
|
| 525 |
+
"sha256": "381417ac0e65fd405147e0f00ba993561e726e8fe4bcfdb027d900675bc314dc",
|
| 526 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 527 |
+
}
|
| 528 |
+
]
|
| 529 |
+
},
|
| 530 |
+
{
|
| 531 |
+
"seed": 3072,
|
| 532 |
+
"asset": "paper-e5-goal-intent-only-seed3072.tar.gz",
|
| 533 |
+
"shared_state_sha256": "25a5756f14e6693228bd9552380cf6f04d89ac7664ef8a68ea2b1b865dc9eea2",
|
| 534 |
+
"shards": [
|
| 535 |
+
{
|
| 536 |
+
"task": "pusht",
|
| 537 |
+
"path": "checkpoints/recovery_delta_query_only_pusht_s3072/weights_epoch_5.pt",
|
| 538 |
+
"bytes": 84734848,
|
| 539 |
+
"sha256": "3c3ed8a7b2a5012b469a7d06d91fb84cc1697276e6862cc10a1f0f1d1ad281c1",
|
| 540 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 541 |
+
},
|
| 542 |
+
{
|
| 543 |
+
"task": "cube",
|
| 544 |
+
"path": "checkpoints/recovery_delta_query_only_cube_s3072/weights_epoch_5.pt",
|
| 545 |
+
"bytes": 84858432,
|
| 546 |
+
"sha256": "98649456beb2e342b4a5f0bf81a8d03de6dba571234ab49e76bd86cbbfed68ed",
|
| 547 |
+
"config_sha256": "0425c622ba7f6c40b0af9259cf6266dec358d21acb55846f9ac77223ab92b708"
|
| 548 |
+
},
|
| 549 |
+
{
|
| 550 |
+
"task": "reacher",
|
| 551 |
+
"path": "checkpoints/recovery_delta_query_only_reacher_s3072/weights_epoch_5.pt",
|
| 552 |
+
"bytes": 84734848,
|
| 553 |
+
"sha256": "607b0c4843efad56646d970873c1f9bc543aefa63e94dd6cb1a7273998166a19",
|
| 554 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 555 |
+
},
|
| 556 |
+
{
|
| 557 |
+
"task": "tworoom",
|
| 558 |
+
"path": "checkpoints/recovery_delta_query_only_tworoom_s3072/weights_epoch_5.pt",
|
| 559 |
+
"bytes": 84734848,
|
| 560 |
+
"sha256": "16d1915ec14478bded8f5cd71c754ebfd8f5aa8745fddf7b1ea7dc92f7991050",
|
| 561 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 562 |
+
}
|
| 563 |
+
]
|
| 564 |
+
}
|
| 565 |
+
]
|
| 566 |
+
},
|
| 567 |
+
{
|
| 568 |
+
"id": "waypoint_intact",
|
| 569 |
+
"name": "Waypoint INTACT",
|
| 570 |
+
"native_interface": "Direct",
|
| 571 |
+
"aggregate_official_sr_percent": {
|
| 572 |
+
"pusht": {
|
| 573 |
+
"mean": 71.22,
|
| 574 |
+
"sample_std": 3.36
|
| 575 |
+
},
|
| 576 |
+
"cube": {
|
| 577 |
+
"mean": 99.0,
|
| 578 |
+
"sample_std": 0.67
|
| 579 |
+
},
|
| 580 |
+
"reacher": {
|
| 581 |
+
"mean": 58.22,
|
| 582 |
+
"sample_std": 9.1
|
| 583 |
+
},
|
| 584 |
+
"tworoom": {
|
| 585 |
+
"mean": 77.22,
|
| 586 |
+
"sample_std": 2.52
|
| 587 |
+
},
|
| 588 |
+
"macro": {
|
| 589 |
+
"mean": 76.42,
|
| 590 |
+
"sample_std": 2.32
|
| 591 |
+
}
|
| 592 |
+
},
|
| 593 |
+
"training_seeds": [
|
| 594 |
+
{
|
| 595 |
+
"seed": 0,
|
| 596 |
+
"asset": "paper-e5-waypoint-intact-seed0.tar.gz",
|
| 597 |
+
"shared_state_sha256": "6f28f27680da7096fac50df6386f81447c4ec33fde21051a79e8ee1e010516ee",
|
| 598 |
+
"shards": [
|
| 599 |
+
{
|
| 600 |
+
"task": "pusht",
|
| 601 |
+
"path": "checkpoints/recovery_full_pusht_s0/weights_epoch_5.pt",
|
| 602 |
+
"bytes": 84734848,
|
| 603 |
+
"sha256": "b04d2bf54386fb5fbdb6db86caf670588889f67b3851cda09c0931ee043923d5",
|
| 604 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 605 |
+
},
|
| 606 |
+
{
|
| 607 |
+
"task": "cube",
|
| 608 |
+
"path": "checkpoints/recovery_full_cube_s0/weights_epoch_5.pt",
|
| 609 |
+
"bytes": 84858432,
|
| 610 |
+
"sha256": "781b00f7735a7391ded0132d396a2a8b7e3c604e97b5ae03f4fd1f228446ef9d",
|
| 611 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 612 |
+
},
|
| 613 |
+
{
|
| 614 |
+
"task": "reacher",
|
| 615 |
+
"path": "checkpoints/recovery_full_reacher_s0/weights_epoch_5.pt",
|
| 616 |
+
"bytes": 84734848,
|
| 617 |
+
"sha256": "33f0620a6538974c58992e448c69a9f4dd70d271af882f5b91a53dbb322c22bb",
|
| 618 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 619 |
+
},
|
| 620 |
+
{
|
| 621 |
+
"task": "tworoom",
|
| 622 |
+
"path": "checkpoints/recovery_full_tworoom_s0/weights_epoch_5.pt",
|
| 623 |
+
"bytes": 84734848,
|
| 624 |
+
"sha256": "4c69ac2fa87261e1b4d15e388430a9541a320ade8b7425895fb1484e9d370c48",
|
| 625 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 626 |
+
}
|
| 627 |
+
]
|
| 628 |
+
},
|
| 629 |
+
{
|
| 630 |
+
"seed": 42,
|
| 631 |
+
"asset": "paper-e5-waypoint-intact-seed42.tar.gz",
|
| 632 |
+
"shared_state_sha256": "97fddeb8093dda403c62c150b7a2c67e14fdaad43b2506d5f86d4e72c1acf319",
|
| 633 |
+
"shards": [
|
| 634 |
+
{
|
| 635 |
+
"task": "pusht",
|
| 636 |
+
"path": "checkpoints/recovery_full_pusht_s42/weights_epoch_5.pt",
|
| 637 |
+
"bytes": 84734848,
|
| 638 |
+
"sha256": "70012aeda7b6a40adebc22d8ced586f46dd63c63318bcb70a465ff65094bda5c",
|
| 639 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 640 |
+
},
|
| 641 |
+
{
|
| 642 |
+
"task": "cube",
|
| 643 |
+
"path": "checkpoints/recovery_full_cube_s42/weights_epoch_5.pt",
|
| 644 |
+
"bytes": 84858432,
|
| 645 |
+
"sha256": "fb197fc24a598fac305d2274c847c05977eab5b20d5e9cbc0dc009934d25c584",
|
| 646 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 647 |
+
},
|
| 648 |
+
{
|
| 649 |
+
"task": "reacher",
|
| 650 |
+
"path": "checkpoints/recovery_full_reacher_s42/weights_epoch_5.pt",
|
| 651 |
+
"bytes": 84734848,
|
| 652 |
+
"sha256": "1c4c71af9b43d130ea1554ce4860845869f7eff079aa3fcd3d5174482596da89",
|
| 653 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 654 |
+
},
|
| 655 |
+
{
|
| 656 |
+
"task": "tworoom",
|
| 657 |
+
"path": "checkpoints/recovery_full_tworoom_s42/weights_epoch_5.pt",
|
| 658 |
+
"bytes": 84734848,
|
| 659 |
+
"sha256": "dde3b5e2982455837b59c9d30e0ca9acf8fb40549341e912469ea502c19ae6fe",
|
| 660 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 661 |
+
}
|
| 662 |
+
]
|
| 663 |
+
},
|
| 664 |
+
{
|
| 665 |
+
"seed": 3072,
|
| 666 |
+
"asset": "paper-e5-waypoint-intact-seed3072.tar.gz",
|
| 667 |
+
"shared_state_sha256": "16c91079abf6f224ea8069fb3dec44c15c6482994cd4aabab5dc4a557b43708e",
|
| 668 |
+
"shards": [
|
| 669 |
+
{
|
| 670 |
+
"task": "pusht",
|
| 671 |
+
"path": "checkpoints/recovery_full_pusht_s3072/weights_epoch_5.pt",
|
| 672 |
+
"bytes": 84734848,
|
| 673 |
+
"sha256": "297391316aab04f73e3cffa8161c86621a07da2075ff4c7a2980369e4726fccd",
|
| 674 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 675 |
+
},
|
| 676 |
+
{
|
| 677 |
+
"task": "cube",
|
| 678 |
+
"path": "checkpoints/recovery_full_cube_s3072/weights_epoch_5.pt",
|
| 679 |
+
"bytes": 84858432,
|
| 680 |
+
"sha256": "1a3bf3c4709ca687e1862e1cf15a1af74d4f9399ed11e090895dfe01c50fb556",
|
| 681 |
+
"config_sha256": "48df13ac36e4df3d2f522c55242f4f00f0619e0274969b92e3bf8c65f6b3bc45"
|
| 682 |
+
},
|
| 683 |
+
{
|
| 684 |
+
"task": "reacher",
|
| 685 |
+
"path": "checkpoints/recovery_full_reacher_s3072/weights_epoch_5.pt",
|
| 686 |
+
"bytes": 84734848,
|
| 687 |
+
"sha256": "2c5399df963d6f6a2befcc5ffee4407ff7ef6acbdc698b3df9bd4d8ecdb3ba51",
|
| 688 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 689 |
+
},
|
| 690 |
+
{
|
| 691 |
+
"task": "tworoom",
|
| 692 |
+
"path": "checkpoints/recovery_full_tworoom_s3072/weights_epoch_5.pt",
|
| 693 |
+
"bytes": 84734848,
|
| 694 |
+
"sha256": "f25e80c520627a54b9401cb280b24015ee8750a16fbac5e2caa51a98f97f1088",
|
| 695 |
+
"config_sha256": "7fd90cb00c895efaf17e2fc743a1456bb5457d6d480a5130ccbbab1e0bce95f4"
|
| 696 |
+
}
|
| 697 |
+
]
|
| 698 |
+
}
|
| 699 |
+
]
|
| 700 |
+
},
|
| 701 |
+
{
|
| 702 |
+
"id": "goal_intact",
|
| 703 |
+
"name": "Goal-displacement INTACT",
|
| 704 |
+
"native_interface": "Direct",
|
| 705 |
+
"aggregate_official_sr_percent": {
|
| 706 |
+
"pusht": {
|
| 707 |
+
"mean": 80.22,
|
| 708 |
+
"sample_std": 1.26
|
| 709 |
+
},
|
| 710 |
+
"cube": {
|
| 711 |
+
"mean": 99.56,
|
| 712 |
+
"sample_std": 0.77
|
| 713 |
+
},
|
| 714 |
+
"reacher": {
|
| 715 |
+
"mean": 95.67,
|
| 716 |
+
"sample_std": 1.76
|
| 717 |
+
},
|
| 718 |
+
"tworoom": {
|
| 719 |
+
"mean": 82.11,
|
| 720 |
+
"sample_std": 4.11
|
| 721 |
+
},
|
| 722 |
+
"macro": {
|
| 723 |
+
"mean": 89.39,
|
| 724 |
+
"sample_std": 0.77
|
| 725 |
+
}
|
| 726 |
+
},
|
| 727 |
+
"training_seeds": [
|
| 728 |
+
{
|
| 729 |
+
"seed": 0,
|
| 730 |
+
"asset": "intact-goal-e5-seed0.tar.gz",
|
| 731 |
+
"shared_state_sha256": "05c6b2f030c11698038134789e02ad00bc6d01e50aebb56910de05dfaf2d5178",
|
| 732 |
+
"shards": [
|
| 733 |
+
{
|
| 734 |
+
"task": "pusht",
|
| 735 |
+
"path": "checkpoints/recovery_delta_full_pusht_s0/weights_epoch_5.pt",
|
| 736 |
+
"bytes": 84734848,
|
| 737 |
+
"sha256": "80312771c15e50ba4b3eb3eb9a910fe6dc0a3bd140f7df1396eea306bf89d012",
|
| 738 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 739 |
+
},
|
| 740 |
+
{
|
| 741 |
+
"task": "cube",
|
| 742 |
+
"path": "checkpoints/recovery_delta_full_cube_s0/weights_epoch_5.pt",
|
| 743 |
+
"bytes": 84858432,
|
| 744 |
+
"sha256": "96a4d525e996c2b78fa384873496396024364850ad4af0003274b8c1426ea270",
|
| 745 |
+
"config_sha256": "0425c622ba7f6c40b0af9259cf6266dec358d21acb55846f9ac77223ab92b708"
|
| 746 |
+
},
|
| 747 |
+
{
|
| 748 |
+
"task": "reacher",
|
| 749 |
+
"path": "checkpoints/recovery_delta_full_reacher_s0/weights_epoch_5.pt",
|
| 750 |
+
"bytes": 84734848,
|
| 751 |
+
"sha256": "9b2d77168f269f0e13a1aa719548a7054dd57bd78cf6c8da6553ec5b33d049fe",
|
| 752 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 753 |
+
},
|
| 754 |
+
{
|
| 755 |
+
"task": "tworoom",
|
| 756 |
+
"path": "checkpoints/recovery_delta_full_tworoom_s0/weights_epoch_5.pt",
|
| 757 |
+
"bytes": 84734848,
|
| 758 |
+
"sha256": "93ed1ef36e59075f39fb5d2ea9f4e25ded824ee2d57496b39bbdb372bad0392a",
|
| 759 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 760 |
+
}
|
| 761 |
+
]
|
| 762 |
+
},
|
| 763 |
+
{
|
| 764 |
+
"seed": 42,
|
| 765 |
+
"asset": "intact-goal-e5-seed42.tar.gz",
|
| 766 |
+
"shared_state_sha256": "e8adcbe1c27a564b3be8193c1ce0737a50247686e647e544f9985856d635661d",
|
| 767 |
+
"shards": [
|
| 768 |
+
{
|
| 769 |
+
"task": "pusht",
|
| 770 |
+
"path": "checkpoints/recovery_delta_full_pusht_s42/weights_epoch_5.pt",
|
| 771 |
+
"bytes": 84734848,
|
| 772 |
+
"sha256": "fbcf4dd23eb1ffefdde3ec133609ff00eba4774bd8a697ef3e1586b0fdca917d",
|
| 773 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 774 |
+
},
|
| 775 |
+
{
|
| 776 |
+
"task": "cube",
|
| 777 |
+
"path": "checkpoints/recovery_delta_full_cube_s42/weights_epoch_5.pt",
|
| 778 |
+
"bytes": 84858432,
|
| 779 |
+
"sha256": "d155d9d0c71cc48614d822b14456f341748a25524c7a899b959a54312755e94a",
|
| 780 |
+
"config_sha256": "0425c622ba7f6c40b0af9259cf6266dec358d21acb55846f9ac77223ab92b708"
|
| 781 |
+
},
|
| 782 |
+
{
|
| 783 |
+
"task": "reacher",
|
| 784 |
+
"path": "checkpoints/recovery_delta_full_reacher_s42/weights_epoch_5.pt",
|
| 785 |
+
"bytes": 84734848,
|
| 786 |
+
"sha256": "3ff3fc512185451728c97b63b66272a584989c01834267463107cd95f845f5f9",
|
| 787 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 788 |
+
},
|
| 789 |
+
{
|
| 790 |
+
"task": "tworoom",
|
| 791 |
+
"path": "checkpoints/recovery_delta_full_tworoom_s42/weights_epoch_5.pt",
|
| 792 |
+
"bytes": 84734848,
|
| 793 |
+
"sha256": "5b86d5ca2f45ac65873c578553d683305478d6d5fe38a72f4d5b93d1a5027082",
|
| 794 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 795 |
+
}
|
| 796 |
+
]
|
| 797 |
+
},
|
| 798 |
+
{
|
| 799 |
+
"seed": 3072,
|
| 800 |
+
"asset": "intact-goal-e5-seed3072.tar.gz",
|
| 801 |
+
"shared_state_sha256": "7cf4b0ca65011c7f54bcabdfe6664e9c82fe650e13656fbb4fe0351c582e65b8",
|
| 802 |
+
"shards": [
|
| 803 |
+
{
|
| 804 |
+
"task": "pusht",
|
| 805 |
+
"path": "checkpoints/recovery_delta_full_pusht_s3072/weights_epoch_5.pt",
|
| 806 |
+
"bytes": 84734848,
|
| 807 |
+
"sha256": "24a598acac5faa1e6e548e84c4d17bd79d9e9e48aae38eee384a92ce3269b590",
|
| 808 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 809 |
+
},
|
| 810 |
+
{
|
| 811 |
+
"task": "cube",
|
| 812 |
+
"path": "checkpoints/recovery_delta_full_cube_s3072/weights_epoch_5.pt",
|
| 813 |
+
"bytes": 84858432,
|
| 814 |
+
"sha256": "d2abfd5d907491cf770cc9d3f5bd003f53d0d16f01ac4732111b9dc459895f07",
|
| 815 |
+
"config_sha256": "0425c622ba7f6c40b0af9259cf6266dec358d21acb55846f9ac77223ab92b708"
|
| 816 |
+
},
|
| 817 |
+
{
|
| 818 |
+
"task": "reacher",
|
| 819 |
+
"path": "checkpoints/recovery_delta_full_reacher_s3072/weights_epoch_5.pt",
|
| 820 |
+
"bytes": 84734848,
|
| 821 |
+
"sha256": "5d0cdd0e9ce2fa187b552cc0ef8930c7ead6bdaaf04cc9bb4d2381b720ab0009",
|
| 822 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 823 |
+
},
|
| 824 |
+
{
|
| 825 |
+
"task": "tworoom",
|
| 826 |
+
"path": "checkpoints/recovery_delta_full_tworoom_s3072/weights_epoch_5.pt",
|
| 827 |
+
"bytes": 84734848,
|
| 828 |
+
"sha256": "42eea9823bbb13ed3779c25dcc3f18cb9a461f1c7dff9dc803c741fa321b4a6e",
|
| 829 |
+
"config_sha256": "5e46a485b314c2124c55ade2c0415a5ee22910efb9113e8736af45dbdb0a9d85"
|
| 830 |
+
}
|
| 831 |
+
]
|
| 832 |
+
}
|
| 833 |
+
]
|
| 834 |
+
}
|
| 835 |
+
]
|
| 836 |
+
}
|
INTACT-unified/README.md
ADDED
|
@@ -0,0 +1,53 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# INTACT Unified E5
|
| 2 |
+
|
| 3 |
+
This directory contains the complete controlled **four-task shared-encoder E5**
|
| 4 |
+
checkpoint matrix from the INTACT paper. A shared encoder is trained jointly on
|
| 5 |
+
PushT, Cube, Reacher, and TwoRoom, with task-specific lightweight heads.
|
| 6 |
+
|
| 7 |
+
## Controlled comparison
|
| 8 |
+
|
| 9 |
+
| Cell | Archive prefix | Native interface | Official macro SR |
|
| 10 |
+
|---|---|---|---:|
|
| 11 |
+
| LeWM | `paper-e5-lewm-*` | CEM 300x30 | 66.17 |
|
| 12 |
+
| Inverse only | `paper-e5-inverse-only-*` | Direct | 56.67 |
|
| 13 |
+
| Waypoint intent only | `paper-e5-waypoint-intent-only-*` | Direct | 74.22 |
|
| 14 |
+
| Goal intent only | `paper-e5-goal-intent-only-*` | Direct | 80.61 |
|
| 15 |
+
| Waypoint INTACT | `paper-e5-waypoint-intact-*` | Direct | 76.42 |
|
| 16 |
+
| **Goal-displacement INTACT** | `intact-goal-e5-*` | **Direct** | **89.39** |
|
| 17 |
+
|
| 18 |
+
The Goal-displacement INTACT task-level result is:
|
| 19 |
+
|
| 20 |
+
| PushT | Cube | Reacher | TwoRoom | Macro SR |
|
| 21 |
+
|---:|---:|---:|---:|---:|
|
| 22 |
+
| 80.22 +/- 1.26 | 99.56 +/- 0.77 | 95.67 +/- 1.76 | 82.11 +/- 4.11 | **89.39 +/- 0.77** |
|
| 23 |
+
|
| 24 |
+
Success rates are percentages averaged over training seeds `0/42/3072`.
|
| 25 |
+
Each checkpoint is evaluated on 100 episodes for evaluation seeds `0/1/42`;
|
| 26 |
+
`+/-` is the sample standard deviation across training-seed means.
|
| 27 |
+
|
| 28 |
+
## Contents
|
| 29 |
+
|
| 30 |
+
- Six controlled cells and three training seeds.
|
| 31 |
+
- Four task-specific checkpoint shards in each archive.
|
| 32 |
+
- `6 x 3 x 4 = 72` checkpoints in total.
|
| 33 |
+
- `PAPER_E5_MATRIX_MANIFEST.json`: per-task results and extracted shard hashes.
|
| 34 |
+
- `PAPER_E5_GOAL_MANIFEST.json`: Goal-displacement INTACT metadata and results.
|
| 35 |
+
- `SHA256SUMS`: archive integrity records.
|
| 36 |
+
- `RUNTIME_SHA256SUMS`: frozen evaluator runtime fingerprint.
|
| 37 |
+
|
| 38 |
+
## Download
|
| 39 |
+
|
| 40 |
+
```bash
|
| 41 |
+
hf download INTACT-JEPA/INTACT --include "INTACT-unified/*" \
|
| 42 |
+
--local-dir checkpoints-release
|
| 43 |
+
|
| 44 |
+
cd checkpoints-release/INTACT-unified
|
| 45 |
+
sha256sum -c SHA256SUMS
|
| 46 |
+
```
|
| 47 |
+
|
| 48 |
+
These paper checkpoints use the frozen paper runtime and legacy Actor checkpoint
|
| 49 |
+
grammar. Use the paper evaluation wrappers supplied by the INTACT source release;
|
| 50 |
+
the weights are intentionally separate from the current clean E1 runtime.
|
| 51 |
+
|
| 52 |
+
The immutable original release remains available at
|
| 53 |
+
[`paper-e5-goal-v1`](https://huggingface.co/INTACT-JEPA/INTACT/tree/paper-e5-goal-v1).
|
INTACT-unified/RUNTIME_SHA256SUMS
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
1d88686c751fbc5863b3fc64f5921b0759f83eb3e3df32c1780ea2a7acfc095b eval.py
|
| 2 |
+
e793e10a2db061492a4b824c0a7bc5493281e419c3eed706ad49fa97bfd1f18a jepa.py
|
| 3 |
+
748ff665314216cd18d70202c587ce25587a3ae4ff149df5b6776cbebd6a055f module.py
|
| 4 |
+
857580156e2fbc9f1be7e4b237496f7f1a893611284c96592a58fbaad64824e5 prior_only_solver.py
|
| 5 |
+
b3bc20f02c12a36649ac0485f3fa8889db002edfcc9f200ea219ea401a143126 sitecustomize.py
|
INTACT-unified/SHA256SUMS
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
b842d1e162737850fb675f9abcfa56b986dee696e9a540147f3b53c9caf8a8a4 paper-e5-lewm-seed0.tar.gz
|
| 2 |
+
c1915d151808b6d9bed10afd6f14067a0b82a72880cd0ba55f3a3c4e827a7f08 paper-e5-lewm-seed42.tar.gz
|
| 3 |
+
6adcd7c5522d24b9495ac9a897f36f49740545b4a9d61d4f1c6a9e43f77984bf paper-e5-lewm-seed3072.tar.gz
|
| 4 |
+
51bd27c2a79c38e8df7b6cedb2deafa26f9ac5dc9e1e914013a31beb9fdcb2b3 paper-e5-inverse-only-seed0.tar.gz
|
| 5 |
+
b16cb5329268e1491b645af1be82f10274e5185c261db441b3da5b98650fd206 paper-e5-inverse-only-seed42.tar.gz
|
| 6 |
+
4fd65a6eabe1819810877ae826c5c50fe85b64bee7ace79bb1d60a70ef6ad248 paper-e5-inverse-only-seed3072.tar.gz
|
| 7 |
+
a1bd12e6b23b091fb9e74e658b4040fae59d543f27c5a6bced2b2376ebb7085c paper-e5-waypoint-intent-only-seed0.tar.gz
|
| 8 |
+
1da9cac9e53338f8c76f4bb1c23d02daab6f4718a40ba6c48cf8baf0f65f4ebc paper-e5-waypoint-intent-only-seed42.tar.gz
|
| 9 |
+
d6e35e34f7a8873139bc00a1330fd76497bf5430b3501a5c25858b83362914c2 paper-e5-waypoint-intent-only-seed3072.tar.gz
|
| 10 |
+
dc2a58cfc8f9a177ed1bf45a1f30198b22f22d41a094589247437773627a06e7 paper-e5-goal-intent-only-seed0.tar.gz
|
| 11 |
+
a319e8b7c96e1db7aedbd404a232af7ecba2d511a6751bc340175c9c7a565d38 paper-e5-goal-intent-only-seed42.tar.gz
|
| 12 |
+
33f3d5839dcc5de56fd6e898fd05306c76abac4520ce059375856fb3a7bcdf7c paper-e5-goal-intent-only-seed3072.tar.gz
|
| 13 |
+
e6a7a7ad2dce641522c0d63b074145a53e3e83799064371a626198488a7e183e paper-e5-waypoint-intact-seed0.tar.gz
|
| 14 |
+
68b568ef8e4a2a8ecf067e9c05ba3cb8688a68ddf24617ce2870484c98621bfa paper-e5-waypoint-intact-seed42.tar.gz
|
| 15 |
+
3d7c4b3bf983b0f832316207faea296ac15b97cf4961e7632f7b5db44c57495b paper-e5-waypoint-intact-seed3072.tar.gz
|
| 16 |
+
1577c3cca4bbc0300525e8ea95aa5618f450cba87bc0b92569d54aa3ff4f4242 intact-goal-e5-seed0.tar.gz
|
| 17 |
+
fe024ea7e72ba6c586fe5899f949ec9f7b8f5007c53bd8d56bd62e3bd55ed85a intact-goal-e5-seed42.tar.gz
|
| 18 |
+
6f9bd398f7443045877fc62fd549b9a0b31e116d421f6bda43b462f491578e28 intact-goal-e5-seed3072.tar.gz
|
INTACT-unified/intact-goal-e5-seed0.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1577c3cca4bbc0300525e8ea95aa5618f450cba87bc0b92569d54aa3ff4f4242
|
| 3 |
+
size 315334973
|
INTACT-unified/intact-goal-e5-seed3072.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6f9bd398f7443045877fc62fd549b9a0b31e116d421f6bda43b462f491578e28
|
| 3 |
+
size 315344613
|
INTACT-unified/intact-goal-e5-seed42.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fe024ea7e72ba6c586fe5899f949ec9f7b8f5007c53bd8d56bd62e3bd55ed85a
|
| 3 |
+
size 315344252
|
INTACT-unified/paper-e5-goal-intent-only-seed0.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dc2a58cfc8f9a177ed1bf45a1f30198b22f22d41a094589247437773627a06e7
|
| 3 |
+
size 314403373
|
INTACT-unified/paper-e5-goal-intent-only-seed3072.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:33f3d5839dcc5de56fd6e898fd05306c76abac4520ce059375856fb3a7bcdf7c
|
| 3 |
+
size 314413186
|
INTACT-unified/paper-e5-goal-intent-only-seed42.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a319e8b7c96e1db7aedbd404a232af7ecba2d511a6751bc340175c9c7a565d38
|
| 3 |
+
size 314422924
|
INTACT-unified/paper-e5-inverse-only-seed0.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:51bd27c2a79c38e8df7b6cedb2deafa26f9ac5dc9e1e914013a31beb9fdcb2b3
|
| 3 |
+
size 314465041
|
INTACT-unified/paper-e5-inverse-only-seed3072.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4fd65a6eabe1819810877ae826c5c50fe85b64bee7ace79bb1d60a70ef6ad248
|
| 3 |
+
size 314491067
|
INTACT-unified/paper-e5-inverse-only-seed42.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b16cb5329268e1491b645af1be82f10274e5185c261db441b3da5b98650fd206
|
| 3 |
+
size 314484137
|
INTACT-unified/paper-e5-lewm-seed0.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b842d1e162737850fb675f9abcfa56b986dee696e9a540147f3b53c9caf8a8a4
|
| 3 |
+
size 313116039
|
INTACT-unified/paper-e5-lewm-seed3072.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6adcd7c5522d24b9495ac9a897f36f49740545b4a9d61d4f1c6a9e43f77984bf
|
| 3 |
+
size 313128761
|
INTACT-unified/paper-e5-lewm-seed42.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c1915d151808b6d9bed10afd6f14067a0b82a72880cd0ba55f3a3c4e827a7f08
|
| 3 |
+
size 313128852
|
INTACT-unified/paper-e5-waypoint-intact-seed0.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e6a7a7ad2dce641522c0d63b074145a53e3e83799064371a626198488a7e183e
|
| 3 |
+
size 314455237
|
INTACT-unified/paper-e5-waypoint-intact-seed3072.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3d7c4b3bf983b0f832316207faea296ac15b97cf4961e7632f7b5db44c57495b
|
| 3 |
+
size 314473001
|
INTACT-unified/paper-e5-waypoint-intact-seed42.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:68b568ef8e4a2a8ecf067e9c05ba3cb8688a68ddf24617ce2870484c98621bfa
|
| 3 |
+
size 314473349
|
INTACT-unified/paper-e5-waypoint-intent-only-seed0.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a1bd12e6b23b091fb9e74e658b4040fae59d543f27c5a6bced2b2376ebb7085c
|
| 3 |
+
size 314448840
|
INTACT-unified/paper-e5-waypoint-intent-only-seed3072.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d6e35e34f7a8873139bc00a1330fd76497bf5430b3501a5c25858b83362914c2
|
| 3 |
+
size 314465133
|
INTACT-unified/paper-e5-waypoint-intent-only-seed42.tar.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1da9cac9e53338f8c76f4bb1c23d02daab6f4718a40ba6c48cf8baf0f65f4ebc
|
| 3 |
+
size 314454841
|
README.md
CHANGED
|
@@ -24,13 +24,19 @@ Search-Free World Models**.
|
|
| 24 |
|---|---|---|---:|---:|---:|---:|---:|
|
| 25 |
| [**INTACT**](https://huggingface.co/INTACT-JEPA/INTACT/tree/main/INTACT) | Causal previous action | Stateful continuation | 86.44 +/- 1.07 | 100.00 +/- 0.00 | 97.78 +/- 0.51 | 98.78 +/- 0.69 | **95.75 +/- 0.52** |
|
| 26 |
| [**INTACT, no previous action**](https://huggingface.co/INTACT-JEPA/INTACT/tree/main/INTACT-no-previous-action) | None | History-free cold start | 85.33 +/- 0.58 | 99.44 +/- 0.38 | 93.44 +/- 0.38 | 98.78 +/- 0.69 | **94.25 +/- 0.08** |
|
|
|
|
| 27 |
|
| 28 |
-
|
| 29 |
Official Direct control, `H=5`, `RH=5`, and zero search. Each value averages
|
| 30 |
evaluation seeds `0/1/42` within training seeds `0/42/3072`; `+/-` is the
|
| 31 |
sample standard deviation across the three training-seed means.
|
| 32 |
|
| 33 |
-
The
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 34 |
uses strictly causal pre-`t` history at an explicitly declared continuation
|
| 35 |
point and only policy-executed actions afterward. The history-free actor omits
|
| 36 |
the previous-action channel in both training and evaluation.
|
|
@@ -44,17 +50,31 @@ hf download INTACT-JEPA/INTACT --include "INTACT/*" --local-dir checkpoints-rele
|
|
| 44 |
# History-free INTACT.
|
| 45 |
hf download INTACT-JEPA/INTACT --include "INTACT-no-previous-action/*" \
|
| 46 |
--local-dir checkpoints-release
|
|
|
|
|
|
|
|
|
|
|
|
|
| 47 |
```
|
| 48 |
|
| 49 |
-
Each directory contains a model-specific README,
|
| 50 |
-
|
|
|
|
|
|
|
|
|
|
| 51 |
|
| 52 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 53 |
|
| 54 |
-
|
| 55 |
-
|
| 56 |
-
|
| 57 |
-
|
| 58 |
[`paper-e5-goal-v1`](https://huggingface.co/INTACT-JEPA/INTACT/tree/paper-e5-goal-v1)
|
| 59 |
tag. The original E1 root layout is preserved at
|
| 60 |
[`intact-goal-e1-single-p77-v1`](https://huggingface.co/INTACT-JEPA/INTACT/tree/intact-goal-e1-single-p77-v1).
|
|
|
|
| 24 |
|---|---|---|---:|---:|---:|---:|---:|
|
| 25 |
| [**INTACT**](https://huggingface.co/INTACT-JEPA/INTACT/tree/main/INTACT) | Causal previous action | Stateful continuation | 86.44 +/- 1.07 | 100.00 +/- 0.00 | 97.78 +/- 0.51 | 98.78 +/- 0.69 | **95.75 +/- 0.52** |
|
| 26 |
| [**INTACT, no previous action**](https://huggingface.co/INTACT-JEPA/INTACT/tree/main/INTACT-no-previous-action) | None | History-free cold start | 85.33 +/- 0.58 | 99.44 +/- 0.38 | 93.44 +/- 0.38 | 98.78 +/- 0.69 | **94.25 +/- 0.08** |
|
| 27 |
+
| [**INTACT, unified E5**](https://huggingface.co/INTACT-JEPA/INTACT/tree/main/INTACT-unified) | Shared encoder, task heads | Official Direct | 80.22 +/- 1.26 | 99.56 +/- 0.77 | 95.67 +/- 1.76 | 82.11 +/- 4.11 | **89.39 +/- 0.77** |
|
| 28 |
|
| 29 |
+
The first two releases are task-specific, full-data, one-epoch models evaluated with
|
| 30 |
Official Direct control, `H=5`, `RH=5`, and zero search. Each value averages
|
| 31 |
evaluation seeds `0/1/42` within training seeds `0/42/3072`; `+/-` is the
|
| 32 |
sample standard deviation across the three training-seed means.
|
| 33 |
|
| 34 |
+
The unified E5 release is the paper's controlled four-task shared-encoder
|
| 35 |
+
experiment. It uses one shared encoder with task-specific heads and is listed
|
| 36 |
+
separately because its epoch count and model-sharing protocol differ from the
|
| 37 |
+
two task-specific E1 releases.
|
| 38 |
+
|
| 39 |
+
The first two variants isolate the previous-action question cleanly. Standard INTACT
|
| 40 |
uses strictly causal pre-`t` history at an explicitly declared continuation
|
| 41 |
point and only policy-executed actions afterward. The history-free actor omits
|
| 42 |
the previous-action channel in both training and evaluation.
|
|
|
|
| 50 |
# History-free INTACT.
|
| 51 |
hf download INTACT-JEPA/INTACT --include "INTACT-no-previous-action/*" \
|
| 52 |
--local-dir checkpoints-release
|
| 53 |
+
|
| 54 |
+
# Complete unified E5 comparison matrix.
|
| 55 |
+
hf download INTACT-JEPA/INTACT --include "INTACT-unified/*" \
|
| 56 |
+
--local-dir checkpoints-release
|
| 57 |
```
|
| 58 |
|
| 59 |
+
Each directory contains a model-specific README, auditable manifests, and
|
| 60 |
+
SHA-256 checksums. The unified directory additionally contains the complete
|
| 61 |
+
six-cell, 72-checkpoint comparison matrix.
|
| 62 |
+
|
| 63 |
+
## Unified E5 comparison
|
| 64 |
|
| 65 |
+
| Controlled cell | Native interface | Official macro SR |
|
| 66 |
+
|---|---|---:|
|
| 67 |
+
| LeWM | CEM 300x30 | 66.17 |
|
| 68 |
+
| Inverse only | Direct | 56.67 |
|
| 69 |
+
| Waypoint intent only | Direct | 74.22 |
|
| 70 |
+
| Goal intent only | Direct | 80.61 |
|
| 71 |
+
| Waypoint INTACT | Direct | 76.42 |
|
| 72 |
+
| **Goal-displacement INTACT** | **Direct** | **89.39** |
|
| 73 |
|
| 74 |
+
All six cells use the same E5 shared-encoder protocol. Task-level results,
|
| 75 |
+
per-seed statistics, checkpoint hashes, and runtime fingerprints are provided
|
| 76 |
+
inside [`INTACT-unified`](https://huggingface.co/INTACT-JEPA/INTACT/tree/main/INTACT-unified).
|
| 77 |
+
The immutable original layout also remains available at the frozen
|
| 78 |
[`paper-e5-goal-v1`](https://huggingface.co/INTACT-JEPA/INTACT/tree/paper-e5-goal-v1)
|
| 79 |
tag. The original E1 root layout is preserved at
|
| 80 |
[`intact-goal-e1-single-p77-v1`](https://huggingface.co/INTACT-JEPA/INTACT/tree/intact-goal-e1-single-p77-v1).
|