{
  "format_version": 1,
  "artifact": "WARP-RM paper simulation policy checkpoints",
  "format": "OpenPI Pi0 Orbax parameter tree with required assets",
  "policies": {
    "vanilla": {
      "directory": "vanilla",
      "description": "paper baseline behavior-cloning policy",
      "tree_sha256": "eb91db1a454d3143d5c073218b4416ed607c6023c86ace5972b82abd3f72ba26"
    },
    "warp_rabc_sss15": {
      "directory": "warp_rabc_sss15",
      "description": "paper WARP-RM reward-aligned behavior-cloning policy",
      "tree_sha256": "2ea04cec11426f767405793560e7db71db7e8908a989d23edb66f8d0ddd3ebec"
    }
  },
  "serving": {
    "checkpoint_contents": "complete serving parameter tree; applicable upstream Pi0/OpenPI terms apply",
    "action_horizon": 30,
    "required_subdirectories": ["params", "assets"],
    "training_state_included": false
  },
  "related_artifacts": {
    "reward_model": "uynitsuj/warp-rm-sim-bottles-sss15",
    "traces": "uynitsuj/paper-sim-n128-traces"
  },
  "content": {
    "payload_file_count": 60,
    "tree_sha256": "a80a9191e6afed47ffeae7857a13997549e2d176be1749ed303cacfcdce5576b",
    "tree_hash_method": "sorted relative paths, each file's sha256sum line, then sha256",
    "tree_hash_excludes": ["MANIFEST.json"]
  }
}