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README.md

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+---
+license: mit
+tags:
+  - arx5
+  - mujoco
+  - world-model
+  - nanoGPT
+  - dynamics
+---
+
+# ARX5 MuJoCo World Model - nanoGPT h32
+
+State-only world model for the ARX5 7-DOF robot arm in MuJoCo. Predicts next state (14D: 7 qpos + 7 qvel) from state history and action.
+
+## Architecture
+
+| Parameter | Value |
+|-----------|-------|
+| Type | nanoGPT (causal transformer) |
+| Layers | 6 |
+| Heads | 12 |
+| Embedding dim | 384 |
+| Context length | 32 (history_horizon=31) |
+| Parameters | ~10.7M |
+| Ensemble size | 2 |
+| State dim | 14 (7 qpos + 7 qvel) |
+| Action dim | 7 (joint position targets) |
+
+## Training
+
+| Metric | Value |
+|--------|-------|
+| best_val_loss | 0.1058 (step 50,000) |
+| train_loss | 0.129 (step 50,000) |
+| Steps completed | 75,000 (early stopped) |
+| Batch size | 64 |
+| Learning rate | 3e-4 (cosine decay to 3e-5) |
+| Runtime | ~2h 42m on NVIDIA L4 (GCloud) |
+| Dataset | 1,024 episodes, 3.5M frames |
+
+Trained on [pravsels/arx5-mujoco-trajectories](https://huggingface.co/datasets/pravsels/arx5-mujoco-trajectories).
+
+## Files
+
+    checkpoints/step_50000/params/params.pt        # Model weights (84MB)
+    checkpoints/step_50000/train_state/train_state.pt  # Optimizer state (86MB)
+    assets/normalization_stats.json                 # z-score mean/std
+    TRAINING_LOG.md                                 # Training log
+
+## Checkpoint Hashes
+
+Verify integrity after download:
+
+    cd checkpoints/step_50000
+    find params -type f | sort | xargs sha256sum | sha256sum
+    # Expected: c27e9b11f1d5d1291a96d305fc0d846c28e91dfc66f578a66942e9a71ae74b32
+
+    find train_state -type f | sort | xargs sha256sum | sha256sum
+    # Expected: 05ec0450208e92822f10c6f4c14e80131a92eeef550793e01e8c50e315c9370a
+
+## Usage
+
+    import torch
+    from rsl_rl.modules.system_dynamics import SystemDynamicsEnsemble
+
+    ckpt = torch.load("checkpoints/step_50000/params/params.pt", map_location="cuda")
+
+    model = SystemDynamicsEnsemble(
+        state_dim=14, action_dim=7, device="cuda",
+        ensemble_size=2, history_horizon=31,
+        architecture_config={"type": "gpt", "n_embd": 384, "n_head": 12, "n_layer": 6,
+                             "block_size": 32, "bias": False, "dropout": 0.0,
+                             "state_mean_shape": [384], "state_logstd_shape": [384]},
+    )
+    model.load_state_dict(ckpt["model_state_dict"])
+    model.eval()
+
+## Source
+
+- Repo: github.com/pravsels/rsl_rwm (branch: feat/arx5_mujoco_wm)
+- Config: config/arx5_mujoco/arx5_mujoco_rsl_rwm_h32_gpt_gcloud.yaml
+- Commit: 1842346