docs: organize current INTACT checkpoint releases

Present standard and history-free E1 checkpoints in separate model directories, update the model card with matched results, and retain older paper artifacts through their immutable tags.

INTACT-no-previous-action/MANIFEST.json

@@ -0,0 +1,297 @@
+{
+  "schema_version": 1,
+  "release": {
+    "provider": "huggingface",
+    "repository": "INTACT-JEPA/INTACT",
+    "revision": "main",
+    "base_code_commit": "235b6a3a92db4d0f1b3a40597ab1f407db4fd15b",
+    "path": "INTACT-no-previous-action",
+    "source_revision": "intact-goal-e1-single-history-free-v1"
+  },
+  "model": {
+    "name": "History-free goal-displacement INTACT single-task reproduction",
+    "epoch": 1,
+    "shared_encoder": false,
+    "feature_layout": "four_slot",
+    "actor_latent_tensor_slots": 3,
+    "actor_input": "[z_t, m_t, z_t * m_t]",
+    "uses_previous_action": false,
+    "window": "7/7",
+    "terminal_goal": "z7"
+  },
+  "scientific_contract": {
+    "method": "INTACT",
+    "intent": "goal_displacement",
+    "num_frames": 8,
+    "local_indices": "0..6",
+    "goal_indices": "0..6",
+    "terminal_goal": "z7",
+    "epochs": 1,
+    "batch_size": 256,
+    "num_workers": 6,
+    "precision": "bf16-mixed",
+    "sdpa": "MATH",
+    "optimizer": "AdamW",
+    "learning_rate": 0.0005,
+    "weight_decay": 0.001,
+    "sigreg_weight": 0.02,
+    "sigreg_num_proj": 1024,
+    "training_seeds": [
+      0,
+      42,
+      3072
+    ],
+    "evaluation_seeds": [
+      0,
+      1,
+      42
+    ],
+    "evaluation_protocol": "Official Direct, H=5, RH=5, zero search"
+  },
+  "training_seeds": [
+    {
+      "seed": 0,
+      "shards": [
+        {
+          "task": "pusht",
+          "path": "checkpoints/intact_goal_history_free_pusht_s0_p77_v1/weights_epoch_1.pt",
+          "bytes": 83161344,
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+            "1": 82.0,
+            "42": 86.0
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+          "official_direct_mean_sr_percent": 85.0
+        },
+        {
+          "task": "cube",
+          "path": "checkpoints/intact_goal_history_free_cube_s0_p77_v1/weights_epoch_1.pt",
+          "bytes": 83332608,
+          "sha256": "d387aa5771f8fa077ed9127ca87801911ae342bd39bd2de256235ed18e738ab0",
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+          "official_direct_mean_sr_percent": 99.66666666666667
+        },
+        {
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+        "reacher": 93.0,
+        "tworoom": 99.0,
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+            "1": 86.0,
+            "42": 86.0
+          },
+          "official_direct_mean_sr_percent": 86.0
+        },
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+          "sha256": "f2ff432b049ae78be44a93510d9e4a6a0d429fe55bfc7d02a0f74a595f7bfe82",
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+          "actor_input_features": 576,
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+            "42": 100.0
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+          "official_direct_mean_sr_percent": 99.66666666666667
+        },
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+          "bytes": 83161344,
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+          "official_direct_mean_sr_percent": 93.66666666666667
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+          "official_direct_mean_sr_percent": 98.0
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+      "official_direct_sr_percent": {
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+        "cube": 99.66666666666667,
+        "reacher": 93.66666666666667,
+        "tworoom": 98.0,
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+      "asset": "intact-goal-e1-single-history-free-seed42.tar.gz",
+      "asset_bytes": 307570839,
+      "asset_sha256": "125094f39918fb5ee2548e0624bef4346334020701112ee19561fd31dae2cff9"
+    },
+    {
+      "seed": 3072,
+      "shards": [
+        {
+          "task": "pusht",
+          "path": "checkpoints/intact_goal_history_free_pusht_s3072_p77_v1/weights_epoch_1.pt",
+          "bytes": 83161344,
+          "sha256": "bb4377be9a5d2923f36d7ca1936c38fd3a530c103e588e9af01f26b2e230de34",
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+          "actor_input_features": 576,
+          "official_direct_sr_percent": {
+            "0": 86.0,
+            "1": 85.0,
+            "42": 84.0
+          },
+          "official_direct_mean_sr_percent": 85.0
+        },
+        {
+          "task": "cube",
+          "path": "checkpoints/intact_goal_history_free_cube_s3072_p77_v1/weights_epoch_1.pt",
+          "bytes": 83332608,
+          "sha256": "da661dc8700535c95825e1f9a74c4371e04da2342652204c99ee992f6f8310b3",
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+            "1": 100.0,
+            "42": 100.0
+          },
+          "official_direct_mean_sr_percent": 99.0
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+        {
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+          "path": "checkpoints/intact_goal_history_free_reacher_s3072_p77_v1/weights_epoch_1.pt",
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+            "1": 94.0,
+            "42": 94.0
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+            "42": 100.0
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+        "cube": 99.0,
+        "reacher": 93.66666666666667,
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+        "macro": 94.25
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+      "asset_sha256": "5d9c496e6701b302b20622eb7c668e4242853e4f33f0a9ef9bdab50f2fee5180"
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+  ],
+  "evaluation": {
+    "interface": "Official Direct",
+    "horizon": 5,
+    "replan_horizon": 5,
+    "candidate_sequences": 0,
+    "evaluation_seeds": [
+      0,
+      1,
+      42
+    ],
+    "episodes_per_evaluation_seed": 100,
+    "evaluation_count": 36,
+    "episodes": 3600,
+    "status": "PASS",
+    "overall_successes": 3393,
+    "overall_success_rate": 94.25,
+    "task_mean_sr_percent": {
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+      "cube": 99.44444444444444,
+      "reacher": 93.44444444444444,
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+      "cube": 0.38490017945975324,
+      "reacher": 0.38490017945975324,
+      "tworoom": 0.6938886664887091
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+    "macro_mean_sr_percent": 94.25,
+    "macro_train_seed_sample_std_percent": 0.0833333333333357
+  }
+}

INTACT-no-previous-action/README.md

@@ -0,0 +1,33 @@
+# 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.
+
+## Actor and evaluation contract
+
+- 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
+
+## Official Direct results
+
+| 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** |
+
+The matrix contains 36 evaluations: training seeds `0/42/3072`, evaluation
+seeds `0/1/42`, four tasks, and 100 episodes per cell.
+
+## Files
+
+- `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
+

INTACT-no-previous-action/RESULTS.csv

@@ -0,0 +1,37 @@
+task,train_seed,eval_seed,successes,episodes,sr_percent
+pusht,0,0,87,100,87.0
+pusht,0,1,82,100,82.0
+pusht,0,42,86,100,86.0
+pusht,42,0,86,100,86.0
+pusht,42,1,86,100,86.0
+pusht,42,42,86,100,86.0
+pusht,3072,0,86,100,86.0
+pusht,3072,1,85,100,85.0
+pusht,3072,42,84,100,84.0
+cube,0,0,99,100,99.0
+cube,0,1,100,100,100.0
+cube,0,42,100,100,100.0
+cube,42,0,99,100,99.0
+cube,42,1,100,100,100.0
+cube,42,42,100,100,100.0
+cube,3072,0,97,100,97.0
+cube,3072,1,100,100,100.0
+cube,3072,42,100,100,100.0
+reacher,0,0,93,100,93.0
+reacher,0,1,93,100,93.0
+reacher,0,42,93,100,93.0
+reacher,42,0,92,100,92.0
+reacher,42,1,94,100,94.0
+reacher,42,42,95,100,95.0
+reacher,3072,0,93,100,93.0
+reacher,3072,1,94,100,94.0
+reacher,3072,42,94,100,94.0
+tworoom,0,0,100,100,100.0
+tworoom,0,1,97,100,97.0
+tworoom,0,42,100,100,100.0
+tworoom,42,0,97,100,97.0
+tworoom,42,1,98,100,98.0
+tworoom,42,42,99,100,99.0
+tworoom,3072,0,100,100,100.0
+tworoom,3072,1,98,100,98.0
+tworoom,3072,42,100,100,100.0

INTACT-no-previous-action/SHA256SUMS

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+73c28e91592c87f286a010c069897d755cb84eef0e521da10a4f72440df1f58f  intact-goal-e1-single-history-free-seed0.tar.gz
+5d9c496e6701b302b20622eb7c668e4242853e4f33f0a9ef9bdab50f2fee5180  intact-goal-e1-single-history-free-seed3072.tar.gz
+125094f39918fb5ee2548e0624bef4346334020701112ee19561fd31dae2cff9  intact-goal-e1-single-history-free-seed42.tar.gz

intact-goal-e5-seed0.tar.gz → INTACT-no-previous-action/intact-goal-e1-single-history-free-seed0.tar.gz

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+size 307569269

intact-goal-e5-seed3072.tar.gz → INTACT-no-previous-action/intact-goal-e1-single-history-free-seed3072.tar.gz

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intact-goal-e5-seed42.tar.gz → INTACT-no-previous-action/intact-goal-e1-single-history-free-seed42.tar.gz

@@ -1,3 +1,3 @@
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+size 307570839

INTACT_GOAL_E1_SINGLE_MANIFEST.json → INTACT/MANIFEST.json

@@ -3,7 +3,9 @@
   "release": {
     "provider": "huggingface",
     "repository": "INTACT-JEPA/INTACT",
-    "revision": "intact-goal-e1-single-p77-v1"
+    "revision": "main",
+    "path": "INTACT",
+    "source_revision": "intact-goal-e1-single-p77-v1"
   },
   "model": {
     "name": "Goal-displacement INTACT single-task reproduction",
@@ -11,12 +13,14 @@
     "shared_encoder": false,
     "feature_layout": "four_slot",
     "window": "7/7",
-    "terminal_goal": "z7"
+    "terminal_goal": "z7",
+    "actor_input": "[z_t, m_t, z_t * m_t, A(a_{t-1})]",
+    "uses_previous_action": true
   },
   "scientific_contract": {
     "batch_size": 256,
     "epochs": 1,
-    "evaluation_protocol": "Official Direct, 100 episodes",
+    "evaluation_protocol": "Official Direct causal continuation",
     "evaluation_seeds": [
       0,
       1,
@@ -42,21 +46,68 @@
       3072
     ],
     "weight_decay": 0.001,
-    "window": "7/7"
+    "window": "7/7",
+    "initial_history": "strictly pre-t action[t-5:t]",
+    "subsequent_history": "policy-executed actions only",
+    "current_or_future_expert_action_visible": false
   },
   "evaluation": {
-    "interface": "Direct",
+    "interface": "Official Direct",
+    "horizon": 5,
+    "replan_horizon": 5,
+    "candidate_sequences": 0,
+    "training_seeds": [
+      0,
+      42,
+      3072
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     "evaluation_seeds": [
       0,
       1,
       42
     ],
-    "episodes_per_evaluation_seed": 100,
+    "episodes_per_cell": 100,
     "evaluation_count": 36,
     "episodes": 3600,
-    "status": "PASS",
-    "overall_successes": 3374,
-    "overall_success_rate": 93.72222222222221
+    "successes": 3447,
+    "task_mean_sr_percent": {
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+      "cube": 100.0,
+      "reacher": 97.77777777777777,
+      "tworoom": 98.77777777777777
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+      "cube": 0.0,
+      "reacher": 0.5091750772173145,
+      "tworoom": 0.6938886664887091
+    },
+    "macro_mean_sr_percent": 95.75,
+    "macro_train_seed_sample_std_percent": 0.5204164998665309,
+    "per_training_seed_sr_percent": {
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+        "cube": 100.0,
+        "reacher": 97.66666666666667,
+        "tworoom": 99.0,
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+      }
+    },
+    "contract": "stateful_causal_continuation"
   },
   "training_seeds": [
     {
@@ -64,13 +115,6 @@
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@@ -100,20 +144,27 @@
           "sha256": "1a33524d318064572cc412e821055759d4935515cd119d3fe138ea7dbc2a9a59",
           "tensors": 317
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-      ]
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       "shards": [
         {
           "task": "pusht",
@@ -143,20 +194,27 @@
           "sha256": "ff6b50316baa1daf80a46a656c4e887470ebda7e1a9cdb8984b8bfd7a221166c",
           "tensors": 317
         }
-      ]
+      ],
+      "legacy_official_direct_sr_percent": {
+        "pusht": 84.0,
+        "cube": 100.0,
+        "reacher": 96.0,
+        "tworoom": 99.33333333333333,
+        "macro": 94.83333333333333
+      },
+      "official_direct_continuation_sr_percent": {
+        "pusht": 87.66666666666667,
+        "cube": 100.0,
+        "reacher": 98.33333333333333,
+        "tworoom": 99.33333333333333,
+        "macro": 96.33333333333333
+      }
     },
     {
       "seed": 3072,
       "asset": "intact-goal-e1-single-seed3072.tar.gz",
       "asset_bytes": 310468271,
       "asset_sha256": "c1aa0f5427e16b553efca69bb9483e688dca0723920f358c0e7080b9ad2fa541",
-      "official_direct_sr_percent": {
-        "pusht": 81.0,
-        "cube": 100.0,
-        "reacher": 95.33333333333333,
-        "tworoom": 98.33333333333333,
-        "macro": 93.66666666666666
-      },
       "shards": [
         {
           "task": "pusht",
@@ -186,7 +244,35 @@
           "sha256": "0cbafe0d2390dfd32a21a70d233d337d386c0a8e0cf3a205ade40f09a8e82cf6",
           "tensors": 317
         }
-      ]
+      ],
+      "legacy_official_direct_sr_percent": {
+        "pusht": 81.0,
+        "cube": 100.0,
+        "reacher": 95.33333333333333,
+        "tworoom": 98.33333333333333,
+        "macro": 93.66666666666666
+      },
+      "official_direct_continuation_sr_percent": {
+        "pusht": 86.0,
+        "cube": 100.0,
+        "reacher": 97.33333333333333,
+        "tworoom": 98.0,
+        "macro": 95.33333333333333
+      }
     }
-  ]
+  ],
+  "legacy_released_evaluation": {
+    "interface": "Direct",
+    "evaluation_seeds": [
+      0,
+      1,
+      42
+    ],
+    "episodes_per_evaluation_seed": 100,
+    "evaluation_count": 36,
+    "episodes": 3600,
+    "status": "PASS",
+    "overall_successes": 3374,
+    "overall_success_rate": 93.72222222222221
+  }
 }

INTACT/README.md

@@ -0,0 +1,40 @@
+# INTACT with causal previous-action context
+
+This directory contains 12 independently trained, task-specific E1
+checkpoints: four tasks for each training seed (`0`, `42`, and `3072`).
+
+## Actor and evaluation contract
+
+- Actor input: `[z_t, m_t, z_t * m_t, A(a_{t-1})]`
+- 7/7 supervision window, 8 frames, terminal goal `z7`
+- Full data, one epoch, batch 256, BF16 mixed precision, Math SDPA
+- Strictly causal continuation at an explicitly declared interior start
+- First input uses only `action[t-5:t]`; missing history before the true episode
+  start is left-padded with normalized raw-zero actions
+- Every later actor call uses only actions executed by the evaluated policy
+- No current or future expert action is visible
+- Official Direct evaluation, `H=5`, `RH=5`, zero search
+
+## Official Direct results
+
+| Task | Mean SR (%) | Train-seed sample std (pp) |
+|---|---:|---:|
+| PushT | 86.44 | 1.07 |
+| Cube | 100.00 | 0.00 |
+| Reacher | 97.78 | 0.51 |
+| TwoRoom | 98.78 | 0.69 |
+| **Macro** | **95.75** | **0.52** |
+
+The matrix contains 36 evaluations: training seeds `0/42/3072`, evaluation
+seeds `0/1/42`, four tasks, and 100 episodes per cell.
+
+## Files
+
+- `intact-goal-e1-single-seed<seed>.tar.gz`: four task shards for one seed
+- `MANIFEST.json`: release contract, aggregate results, and shard hashes
+- `RESULTS.csv`: complete 36-cell continuation evaluation
+- `SHA256SUMS`: archive checksums
+
+This is a stateful continuation model. For evaluation without any action-history
+input, use [`../INTACT-no-previous-action`](../INTACT-no-previous-action).
+

INTACT/RESULTS.csv

@@ -0,0 +1,37 @@
+task,train_seed,eval_seed,successes,episodes,sr_percent
+pusht,0,0,85,100,85.0
+pusht,0,1,86,100,86.0
+pusht,0,42,86,100,86.0
+pusht,42,0,86,100,86.0
+pusht,42,1,89,100,89.0
+pusht,42,42,88,100,88.0
+pusht,3072,0,86,100,86.0
+pusht,3072,1,87,100,87.0
+pusht,3072,42,85,100,85.0
+cube,0,0,100,100,100.0
+cube,0,1,100,100,100.0
+cube,0,42,100,100,100.0
+cube,42,0,100,100,100.0
+cube,42,1,100,100,100.0
+cube,42,42,100,100,100.0
+cube,3072,0,100,100,100.0
+cube,3072,1,100,100,100.0
+cube,3072,42,100,100,100.0
+reacher,0,0,97,100,97.0
+reacher,0,1,100,100,100.0
+reacher,0,42,96,100,96.0
+reacher,42,0,98,100,98.0
+reacher,42,1,100,100,100.0
+reacher,42,42,97,100,97.0
+reacher,3072,0,97,100,97.0
+reacher,3072,1,99,100,99.0
+reacher,3072,42,96,100,96.0
+tworoom,0,0,99,100,99.0
+tworoom,0,1,98,100,98.0
+tworoom,0,42,100,100,100.0
+tworoom,42,0,99,100,99.0
+tworoom,42,1,99,100,99.0
+tworoom,42,42,100,100,100.0
+tworoom,3072,0,98,100,98.0
+tworoom,3072,1,98,100,98.0
+tworoom,3072,42,98,100,98.0

INTACT_GOAL_E1_SINGLE_README.md

@@ -1,23 +0,0 @@
-# INTACT Goal E1 Single-Task Four-Slot 7/7
-
-This release contains 12 independently trained checkpoints: four tasks for each training seed (`0`, `42`, and `3072`). Each archive follows the repository convention of grouping four task shards by training seed.
-
-## Archives
-
-| Archive | Bytes | SHA-256 |
-|---|---:|---|
-| `intact-goal-e1-single-seed0.tar.gz` | 310459876 | `4fc8cd34768ddc431cf0138d8016a1e65330ae1cd5bd060f0846cebe39c0611d` |
-| `intact-goal-e1-single-seed42.tar.gz` | 310468493 | `b5535232e79e7672832dc824c4b19111c18f4fd43f692f3db49aff0fb562343c` |
-| `intact-goal-e1-single-seed3072.tar.gz` | 310468271 | `c1aa0f5427e16b553efca69bb9483e688dca0723920f358c0e7080b9ad2fa541` |
-
-Each archive contains `checkpoints/intact_goal_<task>_s<seed>_p77_v1/weights_epoch_1.pt` for PushT, Cube, Reacher, and TwoRoom. Verify archives with `INTACT_GOAL_E1_SINGLE_SHA256SUMS` and extracted shards with `INTACT_GOAL_E1_SINGLE_MANIFEST.json`.
-
-## Contract
-
-- Original Goal INTACT, independently trained per task
-- Four-slot Actor, 7/7 window, 8 frames, terminal goal `z7`
-- One epoch, batch 256, workers 6, BF16 mixed precision, Math SDPA
-- Train seeds `0/42/3072`; Official Direct evaluation seeds `0/1/42`, 100 episodes per cell
-- 12 checkpoints and 36 evaluations passed; overall success rate 93.72% (3374/3600)
-
-These checkpoints use the clean four-slot runtime. They are intentionally incompatible with the legacy five-slot Actor grammar documented for the paper E5 archives.

PAPER_E5_GOAL_MANIFEST.json

@@ -1,76 +0,0 @@
-{
-  "schema_version": 1,
-  "release": {
-    "provider": "huggingface",
-    "repository": "INTACT-JEPA/INTACT",
-    "revision": "paper-e5-goal-v1"
-  },
-  "model": {
-    "name": "Goal-displacement INTACT",
-    "epoch": 5,
-    "shared_encoder": true,
-    "latent_dim": 192,
-    "backbone": "ViT-Tiny/14",
-    "actor_layout": "delta_condition_product",
-    "sdpa_backend": "MATH",
-    "loss_weights": {
-      "forward": 1.0,
-      "inverse": 0.1,
-      "query": 0.05,
-      "sigreg": 0.03
-    }
-  },
-  "evaluation": {
-    "interface": "Direct",
-    "candidate_sequences": 0,
-    "terminal_cost_calls": 0,
-    "evaluation_seeds": [0, 1, 42],
-    "episodes_per_evaluation_seed": 100,
-    "evaluator_fingerprint_sha256": "1e475a069338bdad6c9e6a38b8ea4e2d5557ecc4cff88844e5efee79121a9fc7",
-    "aggregate_official_sr_percent": {
-      "pusht": {"mean": 80.2222222222, "sample_std": 1.2619796324},
-      "cube": {"mean": 99.5555555556, "sample_std": 0.7698003589},
-      "reacher": {"mean": 95.6666666667, "sample_std": 1.7638342074},
-      "tworoom": {"mean": 82.1111111111, "sample_std": 4.1141130181},
-      "macro": {"mean": 89.3888888889, "sample_std": 0.7742977703}
-    }
-  },
-  "training_seeds": [
-    {
-      "seed": 0,
-      "asset": "intact-goal-e5-seed0.tar.gz",
-      "shared_state_sha256": "05c6b2f030c11698038134789e02ad00bc6d01e50aebb56910de05dfaf2d5178",
-      "official_direct_sr_percent": {"pusht": 79.3333333333, "cube": 100.0, "reacher": 93.6666666667, "tworoom": 86.6666666667, "macro": 89.9166666667},
-      "shards": [
-        {"task": "pusht", "path": "checkpoints/recovery_delta_full_pusht_s0/weights_epoch_5.pt", "bytes": 84734848, "sha256": "80312771c15e50ba4b3eb3eb9a910fe6dc0a3bd140f7df1396eea306bf89d012"},
-        {"task": "cube", "path": "checkpoints/recovery_delta_full_cube_s0/weights_epoch_5.pt", "bytes": 84858432, "sha256": "96a4d525e996c2b78fa384873496396024364850ad4af0003274b8c1426ea270"},
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-        {"task": "tworoom", "path": "checkpoints/recovery_delta_full_tworoom_s0/weights_epoch_5.pt", "bytes": 84734848, "sha256": "93ed1ef36e59075f39fb5d2ea9f4e25ded824ee2d57496b39bbdb372bad0392a"}
-      ]
-    },
-    {
-      "seed": 42,
-      "asset": "intact-goal-e5-seed42.tar.gz",
-      "shared_state_sha256": "e8adcbe1c27a564b3be8193c1ce0737a50247686e647e544f9985856d635661d",
-      "official_direct_sr_percent": {"pusht": 81.6666666667, "cube": 100.0, "reacher": 96.3333333333, "tworoom": 81.0, "macro": 89.75},
-      "shards": [
-        {"task": "pusht", "path": "checkpoints/recovery_delta_full_pusht_s42/weights_epoch_5.pt", "bytes": 84734848, "sha256": "fbcf4dd23eb1ffefdde3ec133609ff00eba4774bd8a697ef3e1586b0fdca917d"},
-        {"task": "cube", "path": "checkpoints/recovery_delta_full_cube_s42/weights_epoch_5.pt", "bytes": 84858432, "sha256": "d155d9d0c71cc48614d822b14456f341748a25524c7a899b959a54312755e94a"},
-        {"task": "reacher", "path": "checkpoints/recovery_delta_full_reacher_s42/weights_epoch_5.pt", "bytes": 84734848, "sha256": "3ff3fc512185451728c97b63b66272a584989c01834267463107cd95f845f5f9"},
-        {"task": "tworoom", "path": "checkpoints/recovery_delta_full_tworoom_s42/weights_epoch_5.pt", "bytes": 84734848, "sha256": "5b86d5ca2f45ac65873c578553d683305478d6d5fe38a72f4d5b93d1a5027082"}
-      ]
-    },
-    {
-      "seed": 3072,
-      "asset": "intact-goal-e5-seed3072.tar.gz",
-      "shared_state_sha256": "7cf4b0ca65011c7f54bcabdfe6664e9c82fe650e13656fbb4fe0351c582e65b8",
-      "official_direct_sr_percent": {"pusht": 79.6666666667, "cube": 98.6666666667, "reacher": 97.0, "tworoom": 78.6666666667, "macro": 88.5},
-      "shards": [
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-        {"task": "cube", "path": "checkpoints/recovery_delta_full_cube_s3072/weights_epoch_5.pt", "bytes": 84858432, "sha256": "d2abfd5d907491cf770cc9d3f5bd003f53d0d16f01ac4732111b9dc459895f07"},
-        {"task": "reacher", "path": "checkpoints/recovery_delta_full_reacher_s3072/weights_epoch_5.pt", "bytes": 84734848, "sha256": "5d0cdd0e9ce2fa187b552cc0ef8930c7ead6bdaaf04cc9bb4d2381b720ab0009"},
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-      ]
-    }
-  ]
-}

PAPER_E5_MATRIX_MANIFEST.json

@@ -1,836 +0,0 @@
-{
-  "schema_version": 1,
-  "release": {
-    "provider": "huggingface",
-    "repository": "INTACT-JEPA/INTACT",
-    "revision": "paper-e5-goal-v1"
-  },
-  "protocol": {
-    "name": "Controlled Math-SDPA shared-encoder E5 matrix",
-    "epoch": 5,
-    "training_seeds": [
-      0,
-      42,
-      3072
-    ],
-    "evaluation_seeds": [
-      0,
-      1,
-      42
-    ],
-    "episodes_per_evaluation_seed": 100,
-    "tasks": [
-      "pusht",
-      "cube",
-      "reacher",
-      "tworoom"
-    ],
-    "evaluator_fingerprint_sha256": "1e475a069338bdad6c9e6a38b8ea4e2d5557ecc4cff88844e5efee79121a9fc7"
-  },
-  "cells": [
-    {
-      "id": "lewm",
-      "name": "LeWM",
-      "native_interface": "CEM 300x30",
-      "aggregate_official_sr_percent": {
-        "pusht": {
-          "mean": 74.56,
-          "sample_std": 3.67
-        },
-        "cube": {
-          "mean": 67.33,
-          "sample_std": 1.86
-        },
-        "reacher": {
-          "mean": 83.11,
-          "sample_std": 0.96
-        },
-        "tworoom": {
-          "mean": 39.67,
-          "sample_std": 8.39
-        },
-        "macro": {
-          "mean": 66.17,
-          "sample_std": 2.67
-        }
-      },
-      "training_seeds": [
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-          "seed": 0,
-          "asset": "paper-e5-lewm-seed0.tar.gz",
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-          ]
-        }
-      ]
-    },
-    {
-      "id": "inverse_only",
-      "name": "Inverse only",
-      "native_interface": "Direct",
-      "aggregate_official_sr_percent": {
-        "pusht": {
-          "mean": 35.0,
-          "sample_std": 1.45
-        },
-        "cube": {
-          "mean": 61.89,
-          "sample_std": 1.26
-        },
-        "reacher": {
-          "mean": 61.0,
-          "sample_std": 0.58
-        },
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-            }
-          ]
-        }
-      ]
-    },
-    {
-      "id": "goal_intact",
-      "name": "Goal-displacement INTACT",
-      "native_interface": "Direct",
-      "aggregate_official_sr_percent": {
-        "pusht": {
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-          "sample_std": 1.26
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-          "mean": 89.39,
-          "sample_std": 0.77
-        }
-      },
-      "training_seeds": [
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-    }
-  ]
-}

README.md

@@ -6,82 +6,66 @@ tags:
   - jepa
   - imitation-learning
   - goal-conditioned-control
+  - arxiv:2607.26056
 ---
 
-# INTACT Paper Checkpoints
+# INTACT Checkpoints
 
-This repository hosts the paper checkpoint matrix for **INTACT: Isomorphic
-Intent-to-Action Learning for Search-Free World Models**.
+Official checkpoints 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`
+[Paper](https://arxiv.org/abs/2607.26056) ·
+[Code](https://github.com/zju3dv/INTACT-JEPA) ·
+[Project page](https://zju3dv.github.io/INTACT-JEPA/)
 
-## Contents
+## Recommended releases
 
-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.
+| Release | Actor context | Evaluation contract | PushT | Cube | Reacher | TwoRoom | Macro SR |
+|---|---|---|---:|---:|---:|---:|---:|
+| [**INTACT**](./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** |
+| [**INTACT, no previous action**](./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** |
 
-| 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** |
+Both releases are task-specific, full-data, one-epoch models evaluated with
+Official Direct control, `H=5`, `RH=5`, and zero search. Each value averages
+evaluation seeds `0/1/42` within training seeds `0/42/3072`; `+/-` is the
+sample standard deviation across the three training-seed means.
 
-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.
+The two variants isolate the previous-action question cleanly. Standard INTACT
+uses strictly causal pre-`t` history at an explicitly declared continuation
+point and only policy-executed actions afterward. The history-free actor omits
+the previous-action channel in both training and evaluation.
 
-## Recommended download
-
-From the accompanying INTACT source release:
+## Download
 
 ```bash
-# One cell, all training seeds.
-bash scripts/download_paper_checkpoints.sh waypoint_intact all
+# Standard INTACT: three training seeds, four task shards per archive.
+hf download INTACT-JEPA/INTACT --include "INTACT/*" --local-dir checkpoints-release
 
-# Complete 72-checkpoint matrix.
-bash scripts/download_paper_checkpoints.sh matrix all
+# History-free INTACT.
+hf download INTACT-JEPA/INTACT --include "INTACT-no-previous-action/*" \
+  --local-dir checkpoints-release
 ```
 
-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:
+Each directory contains a model-specific README, the complete 36-cell result
+matrix, an auditable manifest, and SHA-256 checksums.
 
-```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
-```
+## Archived paper release
 
-## Runtime compatibility
+The previous homepage highlighted `89.39%`, the controlled **E5 multi-task
+shared-encoder** Goal-displacement INTACT result. It is a different experiment,
+not an error in the old table. The complete 72-checkpoint paper matrix remains
+permanently available at the frozen
+[`paper-e5-goal-v1`](https://huggingface.co/INTACT-JEPA/INTACT/tree/paper-e5-goal-v1)
+tag. The original E1 root layout is preserved at
+[`intact-goal-e1-single-p77-v1`](https://huggingface.co/INTACT-JEPA/INTACT/tree/intact-goal-e1-single-p77-v1).
 
-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.
+## Citation
 
-## 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.
+```bibtex
+@article{sun2026intact,
+  title   = {INTACT: Isomorphic Intent-to-Action Learning for Search-Free World Models},
+  author  = {Sun, Junhan and Zhao, Hao and Zhang, Guofeng},
+  journal = {arXiv preprint arXiv:2607.26056},
+  year    = {2026}
+}
+```

RUNTIME_SHA256SUMS

@@ -1,5 +0,0 @@
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-e793e10a2db061492a4b824c0a7bc5493281e419c3eed706ad49fa97bfd1f18a  jepa.py
-748ff665314216cd18d70202c587ce25587a3ae4ff149df5b6776cbebd6a055f  module.py
-857580156e2fbc9f1be7e4b237496f7f1a893611284c96592a58fbaad64824e5  prior_only_solver.py
-b3bc20f02c12a36649ac0485f3fa8889db002edfcc9f200ea219ea401a143126  sitecustomize.py

SHA256SUMS

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-c1915d151808b6d9bed10afd6f14067a0b82a72880cd0ba55f3a3c4e827a7f08  paper-e5-lewm-seed42.tar.gz
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-51bd27c2a79c38e8df7b6cedb2deafa26f9ac5dc9e1e914013a31beb9fdcb2b3  paper-e5-inverse-only-seed0.tar.gz
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-e6a7a7ad2dce641522c0d63b074145a53e3e83799064371a626198488a7e183e  paper-e5-waypoint-intact-seed0.tar.gz
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paper-e5-goal-intent-only-seed0.tar.gz

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