MODEL_INDEX.md

Model Index

2026-03-25/26 Additions

Handoff Proxy Checkpoints

Run	Checkpoint	Summary	Report
spatial handoff	artifacts/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_seed17/checkpoint_best.pt	artifacts/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_seed17/summary.json	artifacts/reports/reveal_handoff_compare_serious/reveal_benchmark.json
compact handoff	artifacts/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_seed17/checkpoint_best.pt	artifacts/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_seed17/summary.json	artifacts/reports/reveal_handoff_compact_train_probe/reveal_benchmark.json
compact-phase handoff	artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt	artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/summary.json	artifacts/reports/reveal_phase_compare_serious_compact/reveal_benchmark.json
spatial-phase handoff	artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt	artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/summary.json	artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.json

RLBench Current Checkpoints

Run	Checkpoint	Related files
subset3 valid9	artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_valid9/checkpoint_best.pt	artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_valid9/checkpoint_stable.pt
subset3 common23	artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt	artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt
lift-ball wide	artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_wide/checkpoint_best.pt	artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_wide/checkpoint_stable.pt
push-box step1	artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt	artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json, artifacts/reports/rlbench_push_box_knn_step1_ep5_top1_dense/rollout_eval.json

RLBench Result Files

Artifact	File
lift-ball wide, one-step replanning	artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.json
push-box step1, one-step replanning	artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json
push-box step1, one-step replanning, delta_scale=0.05	artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.json
push-box kNN, episodes=1	artifacts/reports/rlbench_push_box_knn_step1_ep1/rollout_eval.json
push-box kNN, episodes=5, top_k=5	artifacts/reports/rlbench_push_box_knn_step1_ep5/rollout_eval.json
push-box kNN, episodes=5, top_k=1, dense bank	artifacts/reports/rlbench_push_box_knn_step1_ep5_top1_dense/rollout_eval.json

R3D Proxy Runs

Run	Config	Seed	Checkpoint	Summary	Benchmark	Diagnostics
stage1 dummy	proxy_interaction_r3d_stage1_dummy.yaml	13	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/diagnostics_full/proxy_diagnostics.json
stage1 dummy	proxy_interaction_r3d_stage1_dummy.yaml	14	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/diagnostics_full/proxy_diagnostics.json
stage1 dummy	proxy_interaction_r3d_stage1_dummy.yaml	15	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/diagnostics_full/proxy_diagnostics.json
stage2 dummy	proxy_interaction_r3d_stage2_dummy.yaml	21	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/diagnostics_full/proxy_diagnostics.json
stage2 dummy	proxy_interaction_r3d_stage2_dummy.yaml	22	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/diagnostics_full/proxy_diagnostics.json
stage2 dummy	proxy_interaction_r3d_stage2_dummy.yaml	23	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/diagnostics_full/proxy_diagnostics.json
stage1 clip	proxy_interaction_r3d_stage1_clip.yaml	7	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/diagnostics_full/proxy_diagnostics.json
stage1 clip	proxy_interaction_r3d_stage1_clip.yaml	8	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/diagnostics_full/proxy_diagnostics.json
stage1 clip	proxy_interaction_r3d_stage1_clip.yaml	9	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/diagnostics_full/proxy_diagnostics.json
stage2 clip	proxy_interaction_r3d_stage2_clip.yaml	11	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/diagnostics_full/proxy_diagnostics.json
stage2 clip	proxy_interaction_r3d_stage2_clip.yaml	12	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/diagnostics_full/proxy_diagnostics.json
stage2 clip	proxy_interaction_r3d_stage2_clip.yaml	13	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/diagnostics_full/proxy_diagnostics.json
stage3 clip rgbd	proxy_interaction_r3d_stage3_clip_rgbd.yaml	17	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/diagnostics_full/proxy_diagnostics.json
stage3 clip rgbd	proxy_interaction_r3d_stage3_clip_rgbd.yaml	18	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/diagnostics_full/proxy_diagnostics.json
stage3 clip rgbd	proxy_interaction_r3d_stage3_clip_rgbd.yaml	19	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/checkpoint_best.pt	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/summary.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/benchmark_full/reveal_benchmark.json	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/diagnostics_full/proxy_diagnostics.json

Ablation Benchmark Files

Ablation	File
stage1 dummy no_planner	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/benchmark_no_planner/reveal_benchmark.json
stage1 dummy no_role_symmetry	artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/benchmark_no_role_symmetry/reveal_benchmark.json
stage2 dummy no_world_model	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_no_world_model/reveal_benchmark.json
stage2 dummy no_world_model pre-fix backup	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_no_world_model/reveal_benchmark_pre_null_rollout_fix.json
stage2 dummy short_history	artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_short_history/reveal_benchmark.json
stage3 clip RGB-D no_depth	artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/benchmark_no_depth/reveal_benchmark.json

Equivalent files exist under the other seed directories.

Integration Artifacts

Artifact	File
RLBench import/config smoke	artifacts/outputs/r3d/rlbench_smokes/smoke_test_output.txt
RLBench open_drawer launch smoke	artifacts/outputs/r3d/rlbench_smokes/launch_smoke_open_drawer.txt
RLBench open_drawer rollout	artifacts/outputs/r3d/rlbench_open_drawer_r3d_rollout/rollout_eval.json
PerAct2 13-task launch smoke summary	artifacts/outputs/r3d/peract2_13_launch_smoke/launch_smoke_summary.json

Historical References

File	Purpose
regression/baselines.md	historical baseline metrics from the downloaded snapshot
results/phase_tracking.md	phase-by-phase acceptance tracking