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adbb464 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 | """Recursive latent planner over the frozen LeWM PushT world model.
Phase 2 of the project. The recursion replaces the plan-token refiner of
``lejepa_control.controller.IterativeController``; it does not replace the
objective around it, so the arrival-and-hold term, the late path weighting, the
GMM support model and the dataset loader are imported from phase 1 unchanged.
The phase-1 controller is left untouched — it is the baseline this planner is
measured against.
"""
from lejepa_control_2.losses import (
DistanceScale,
anchor_loss,
cycle_weights,
deep_supervision_loss,
planner_loss,
saturation_loss,
)
from lejepa_control_2.planner import (
ActionEmbedding,
FTheta,
GTheta,
RecursivePlanner,
RMSNorm,
consequence_features,
m_step,
)
__all__ = [
'ActionEmbedding',
'DistanceScale',
'FTheta',
'GTheta',
'RMSNorm',
'RecursivePlanner',
'anchor_loss',
'consequence_features',
'cycle_weights',
'deep_supervision_loss',
'm_step',
'planner_loss',
'saturation_loss',
]
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