| --- |
| license: other |
| extra_gated_prompt: >- |
| TanitAD research checkpoint. Access is granted manually by the repo owner. |
| tags: [tanitad, flagship, world-model, autonomous-driving, from-scratch] |
| --- |
| |
| # flagship-v4-fromscratch -- FINAL 30k checkpoint (step 29999) |
|
|
| The full 59.0 h (212,544.6 s wallclock) from-scratch v4 run: joint planner + |
| world-model training with the lambda_plan seam ramped to `lam_mult_final = 1.0`. |
| |
| `ckpt.pt` is the FINAL state at `final_step 29999`. It is archived here because |
| the trainer's `milestone_archives` are [5000, 10000, 15000, 20000] ONLY -- there |
| is no 25k and no 30k milestone, so before this push the finished run existed on a |
| single pod disk. |
|
|
| ## MEASURED (metrics.json, in-loop, n=881 val windows) |
|
|
| | quantity | value | |
| |---|---| |
| | `final_step` | 29999 | |
| | `canary_ade@2s` (WM integrity) | 1.1409 | |
| | `canary_baseline` | 15.6742 | |
| | in-loop `val ade@2s` (DENSE-20) | 0.5063 | |
| | in-loop `val oracle_ade@2s` | 0.1892 | |
| | in-loop `val miss@2m` | 0.2145 | |
| | `lam_mult_final` | 1.0 | |
|
|
| The from-scratch WM canary descended to 1.1409 against a 15.6742 baseline |
| THROUGH full planner coupling -- that descent is the v4 thesis. |
|
|
| ## READ THIS BEFORE QUOTING A NUMBER |
|
|
| The in-loop `ade@2s` above is the trainer's **DENSE-20** statistic (mean over 20 |
| dense steps 0.1-2.0 s). It is **NOT** comparable to the historical |
| `ade_0_2s`/`g_op_fwd_ade_m` convention, which is the **4-waypoint** mean over |
| steps 5/10/15/20. On the same forward pass at 15k this arm read dense-20 0.4596 |
| vs 4-waypoint 0.5839. A metric NAME is not a metric DEFINITION |
| (TanitAD RETRACTION_LOG C1). Quote `eval_flagship_v4.py` output only. |
| |
| `ckpt_step20000.pt` is the last archived milestone before the finish. |
|
|
| Pushed from tanitad-pod2, gated (manual approval), 2026-07-26. |
|
|
