README.md

# navcache — M7 v7 derived caches

Caches produced by the M7 v7 pipeline from **public NAVSIM / OpenScene data**. Nothing here is
raw sensor data and nothing here is model weights; every prefix is something this project computed
and would otherwise have to recompute. Written 2026-08-21, when the cluster that produced it was
retired.

| prefix | what it is | why it is worth its bytes |
| --- | --- | --- |
| `feat_cache/dinov2/` | 206 GB of frozen DINOv2-base features over navtrain/navtest | GPU-hours of encoding |
| `feat_cache/dinov3/` | 838 GB of frozen DINOv3 ViT-7B/16 features | the largest single artifact in the project |
| `test_cache/` | v1.1 navtest, v2.2 navtest, v2.2 navhard-two-stage metric caches | evaluator-pinned, needed to score anything offline |
| `train_cache/navtrain_portable/` | portable navtrain metric export, 103,288 shards — one per M7 index token | re-labelling a new trajectory vocabulary needs only this |
| `train_cache/navsim_v2_2_navtrain_full/` | the raw evaluator-pinned navtrain metric cache it came from | ~76 min on 128 threads to rebuild, and only inside the pinned v2.2 environment |
| `hydra_mdp_labels/` | `navtrain_k8192_seed0` offline PDM rule labels | **~1,300 core-hours** of candidate scoring — the most expensive derived artifact here |
| `vocabulary/` | the `navtrain_k8192_seed0` trajectory vocabulary | the labels above are keyed to it and are meaningless without it |
| `index/` | navtrain / navtest / navhard parquet indices | defines the token set everything else is aligned to |

**Read the dinov3 manifest carefully.** `feat_cache/dinov3/<hash>/manifest.json` is the
**storage-fields-repaired** version. The pre-repair copy is retained as
`feat_cache/dinov3/validation/manifest.pre-storage-fields.json` — do not use it to bind the cache.

**Not here, on purpose.** The underlying NAVSIM sensor blobs, logs and maps (~1.4 TB) are a public
download and were not re-hosted. Model weights are not here either: DINOv3 is gated and stays with
its publisher.

Checkpoints, run records and scores live in the private companion bucket `AndyPJT/corewam_ckpts`,
whose `ARTIFACT_INDEX.md` documents both buckets in full.