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TanitAD REF-C base — E1b failure-gated closed-loop SFT (research artifact)
This checkpoint is a pre-registered BOUND result, not a deployed model.
It is published for reproducibility and because it was the last single-disk
artifact of the E1b/E1c experiment line.
- Base:
Sayood/tanitad-refc-base(REF-C anchored-diffusion planner, 104,191,577 params, 128 anchors, 2 denoise steps), step 29999. - Fine-tune: 4000 steps, lr 2e-5, cosine, warmup 100, encoder frozen (13,732,945 trainable / 90,458,632 frozen). Two interleaved objectives: R2LPL-shaped anchor-score/traj supervision toward a logged-corridor recovery demonstration at 3,537 mined recoverable pre-failure states, plus an open-loop replay branch on the parity-train corpus.
- Mining/replay corpus:
physicalai-train-e438721ae894(2376 episodes). Evaluation: a byte-level-disjoint 44-episode held-out set.
Measured (paired episode-cluster bootstrap, B=2000, over the held-out episodes)
| metric (K=185, 18.5 s closed loop) | base | this ckpt | paired delta |
|---|---|---|---|
| corridor-departure, overall | 0.5877 | 0.1603 | −0.4274 [−0.5161, −0.3378] separated |
| corridor-departure, junction | 0.8414 | 0.4144 | −0.4270 [−0.6838, −0.1648] separated |
| peak abs XTE (m) | 38.94 | 3.04 | −35.90 [−49.33, −24.12] separated |
| OOD peak ratio (in-band check) | 1.2664 | 1.1339 | −0.1325 separated (favourable) |
| open-loop guardrail (held-out) | base | this ckpt | paired delta |
|---|---|---|---|
| ADE@2s (m) | 0.4747 | 0.6693 | +0.1947 [+0.1415, +0.2522] separated WORSE |
| anchor accuracy | 0.6815 | 0.6163 | −0.0651 separated WORSE |
| anchor traj L1 | 0.1775 | 0.2399 | +0.0624 separated WORSE |
Verdict: BOUND. The pre-registration committed that a closed-loop win
bought with a CI-separated open-loop regression is not a success. The
diagnosed cause: the forgetting guard was monitored on the corpus it replays,
so it could only ever report success. E1c re-runs this configuration with the
guard on held-out data and reports the full frontier.
Files
ckpt.pt (model + optimizer, step 3999) · config.json · metrics.json ·
train_log.jsonl
Not a safety claim. The closed loop here is map/agent-free and measures corridor-keeping/drift, not collision or off-road safety.
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