Final weights
Only the final models and their required pretrained backbone are retained:
navsim_final.ckpt: SafetyFinal epoch 1, shared by NAVSIM v1 and v2.bench2drive_4cam_score11.ckpt: final four-camera epoch 11.vjepa2_1_vitl.pt: required V-JEPA 2.1 pretrained backbone.
All three are regular files. Other checkpoints and external training references were moved to the sibling leap-auto-wam-backup folder. They are not required for inference. Training Stage 2 requires explicitly supplying a Stage 1 checkpoint via CHECKPOINT_PATH.
See manifest.json for sizes and final_sha256.json for hashes. Hard-linked archived copies share content; never overwrite a retained checkpoint in place.