File size: 32,884 Bytes
f3d43a3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
{
  "profiles": [
    {
      "project": "D-JEPA",
      "profile": "granular-multiview",
      "source_sha256": "e796fa3ee2fbc6f5b4abdfae99e8fa843606f923284a7fb95f59c0fc6c512c70",
      "weights_sha256": "2ee5783def21816054645f87d9cffa50900733b7218a2b9ee203ae39aec682ff",
      "tensor_count": 30,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "granular",
      "model": {
        "input_dim": 4,
        "hidden_dim": 64,
        "low_rank": 8,
        "max_correction": 0.2
      },
      "input_dim": 4,
      "gate_threshold": -0.010684727949480862,
      "gate_mode": "base_minus_refined",
      "gate_decimals": null,
      "fusion_weights": [
        0.0,
        0.35,
        0.6,
        0.05
      ],
      "upstream_included": false,
      "lineage": {
        "schema": "dajepa_granular_train_lineage_v1",
        "method": "da_jepa_mg",
        "dino_checkpoint_sha256": "2b1cb1db727e866c9f98136a72dcd1e55ad076379bda64b4b88273e84a23ac60",
        "config_sha256": "4018434a9031d3367c4067b3791f8afab7a31debaf7f264945146138f181a94e",
        "adapter_config_sha256": "0f2c0a07bf170e87776bb5c5a3485a442ecfefa61eb0b06d3e143de218b000db",
        "train_feature_cache_sha256": "45ec06b6a5331e26f454c3e33247308fe8da950b825e8ee1d349d7d2914ad40e",
        "calibration_feature_cache_sha256": "be8936712c9bd828921f6f714b626928dab23760d2dcf35fb7419609d294ce65",
        "train_release_sha256": "ac21f702f23b7a01f88aeb063785d24486face6ffd59b20b07de30cea81a4aa0",
        "calibration_release_sha256": "67cb52466c3cfd3b1c35dcc89993960a925ab114d33c4c352b179763907828f7",
        "trainer_sha256": "9686c9d555b41ad3966811452c514a3b26af88402b1b2d0ffc45be3d8528333d",
        "core_sha256": "d267a9cdd5e2d8947f7bcb0d7bf49a0180d643a3a345e6bad3bc41b40df7ec81"
      },
      "training": {
        "seed": 20260831,
        "updates": 1500,
        "batch_starts": 16,
        "learning_rate": 0.0003,
        "weight_decay": 0.0001,
        "max_grad_norm": 1.0,
        "tail_k": 16,
        "evaluate_every": 25,
        "mg_grid_step": 0.05,
        "supervision_count": 16
      }
    },
    {
      "project": "D-JEPA",
      "profile": "granular-relational",
      "source_sha256": "8f613280f8084e8c6403e42db138f73e01b4c43b9235e62bfd36734727836895",
      "weights_sha256": "a7f2b70c1d1d853cf5dbd391f3560828f28015a72092938a978dff1a0e497504",
      "tensor_count": 30,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "granular",
      "model": {
        "input_dim": 2305,
        "hidden_dim": 64,
        "low_rank": 8,
        "max_correction": 0.2
      },
      "input_dim": 2305,
      "gate_threshold": -0.06998290770476866,
      "gate_mode": "base_minus_refined",
      "gate_decimals": null,
      "fusion_weights": null,
      "upstream_included": false,
      "lineage": {
        "schema": "dajepa_granular_train_lineage_v1",
        "method": "da_jepa_r",
        "dino_checkpoint_sha256": "2b1cb1db727e866c9f98136a72dcd1e55ad076379bda64b4b88273e84a23ac60",
        "config_sha256": "4018434a9031d3367c4067b3791f8afab7a31debaf7f264945146138f181a94e",
        "adapter_config_sha256": "0f2c0a07bf170e87776bb5c5a3485a442ecfefa61eb0b06d3e143de218b000db",
        "train_feature_cache_sha256": "45ec06b6a5331e26f454c3e33247308fe8da950b825e8ee1d349d7d2914ad40e",
        "calibration_feature_cache_sha256": "be8936712c9bd828921f6f714b626928dab23760d2dcf35fb7419609d294ce65",
        "train_release_sha256": "ac21f702f23b7a01f88aeb063785d24486face6ffd59b20b07de30cea81a4aa0",
        "calibration_release_sha256": "67cb52466c3cfd3b1c35dcc89993960a925ab114d33c4c352b179763907828f7",
        "trainer_sha256": "9686c9d555b41ad3966811452c514a3b26af88402b1b2d0ffc45be3d8528333d",
        "core_sha256": "d267a9cdd5e2d8947f7bcb0d7bf49a0180d643a3a345e6bad3bc41b40df7ec81"
      },
      "training": {
        "seed": 20260831,
        "updates": 1500,
        "batch_starts": 16,
        "learning_rate": 0.0003,
        "weight_decay": 0.0001,
        "max_grad_norm": 1.0,
        "tail_k": 16,
        "evaluate_every": 25,
        "mg_grid_step": 0.05,
        "supervision_count": 16
      }
    },
    {
      "project": "D-JEPA",
      "profile": "pushobj-unseen-shapes",
      "source_sha256": "941dbd680a7dd179a798e208785bb2a68e3011753eb6d938f5f44a1f7c5ff404",
      "weights_sha256": "8797c805e77fa56017f2ba9d1699f5ffd2bdc415cb2882e01322290ff6e32024",
      "tensor_count": 30,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "set_aligner",
      "input_dim": 3,
      "max_correction": 0.2,
      "fusion_alpha": 0.3,
      "gate_threshold": 0.0,
      "gate_mode": "refined_gap",
      "gate_decimals": null,
      "upstream_included": false,
      "training": {
        "schema": "djepa-pushobj-relational-v1",
        "seed": 20260906,
        "epochs": 120,
        "learning_rate": 0.0003,
        "batch_size": 16,
        "input_dim": 3,
        "max_correction": 0.2,
        "source_model": "frozen_pushobj_release",
        "feature_mode": "ordinal",
        "fusion_weight_selected_on_calibration": false,
        "base_mode": "rank_fusion",
        "fusion_alpha": 0.3,
        "train_completion_sha256": "855bd0c8afe39add66b23fa5b6b5b401025ca1a6ef0d314dce253b1d5694e8c3",
        "calibration_completion_sha256": "8ca0e50c69c47f0aed75e4c07b22f1ee00f0597621fc167b9da8110801b8c4e1",
        "torch": "2.3.0+cu121",
        "train_code_sha256": "b890ce79e62d3787f405f14971dee1acdd1edc2e9f58b33ae9146b1ccc5e3247",
        "model_code_sha256": "4db0e1740c89fdcbaea98cd07abd1f5d0fbdee85abb42d3791524dc6a6a8bc86"
      },
      "selected_epoch": 40
    },
    {
      "project": "D-JEPA",
      "profile": "pusht-adapted-predictor-full",
      "source_sha256": "ccbd6ca30c550b60a186c5d0a1fa5f1a43b7a08b704b19037586ff3de52b0887",
      "weights_sha256": "26cb528b6ba5b3b6e7d464eeb9a75f599ac28641617666e0638c9e51de2b9083",
      "tensor_count": 309,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "pretrained_predictor",
      "upstream_included": true,
      "lineage": {
        "method": "dtail_jepa_p_v2",
        "pool_sha256": "f3adae4e85c033465a7b663064503f1808dde7fa95a05ebe20da8c7f8db18dba",
        "tdjepa_sha256": "328db2682a311a70bc4d81b4394fcf9ac1eb8369c827dfe199283efcbaeeac80",
        "refiner_sha256": "84c2b0fb93afdad9279b220ecf696642528899bb233a21ab1489c31ec7359d9f",
        "refiner_lineage": {
          "method": "dtail_jepa_r_v2",
          "pool_sha256": "f3adae4e85c033465a7b663064503f1808dde7fa95a05ebe20da8c7f8db18dba",
          "lewm_weights_sha256": "5487ac45812ded38e11472eb7084d28c81c18e85154293125dd51c278fcd72c9",
          "tdjepa_weights_sha256": "328db2682a311a70bc4d81b4394fcf9ac1eb8369c827dfe199283efcbaeeac80",
          "fusion_alpha": 0.42,
          "fit_start_count": 448,
          "calibration_start_count": 64,
          "best_update": 550
        },
        "trainable_names": [
          "predictor.transformer.layers.5.attn.norm.weight",
          "predictor.transformer.layers.5.attn.norm.bias",
          "predictor.transformer.layers.5.attn.to_qkv.weight",
          "predictor.transformer.layers.5.attn.to_out.0.weight",
          "predictor.transformer.layers.5.attn.to_out.0.bias",
          "predictor.transformer.layers.5.mlp.net.0.weight",
          "predictor.transformer.layers.5.mlp.net.0.bias",
          "predictor.transformer.layers.5.mlp.net.1.weight",
          "predictor.transformer.layers.5.mlp.net.1.bias",
          "predictor.transformer.layers.5.mlp.net.4.weight",
          "predictor.transformer.layers.5.mlp.net.4.bias",
          "predictor.transformer.layers.5.adaLN_modulation.1.weight",
          "predictor.transformer.layers.5.adaLN_modulation.1.bias",
          "pred_proj.net.0.weight",
          "pred_proj.net.0.bias",
          "pred_proj.net.1.weight",
          "pred_proj.net.1.bias",
          "pred_proj.net.3.weight",
          "pred_proj.net.3.bias"
        ],
        "best_update": 200,
        "fit_start_count": 384,
        "calibration_start_count": 128,
        "fusion_alpha": 0.42,
        "config_digest": "c65cc25c5968eb762c77ec6069170551d20119f2cfa71ddd4beab795be167007",
        "code_sha256": {
          "dcv/dtail_v2_plastic.py": "09f0140772ea98962fcc78a2383d2d8d309b3e55bcea71f3c1ff28af15b460a9",
          "dcv/dtail_v2_plastic_data.py": "514feac427ce8318f5199eed209449ec87cf730b60bbf02e20e09edac9c1b115",
          "dcv/train_dtail_v2_plastic.py": "1e3da1d9b2608dd1509efdcb5a4e248a8ea4498f921c9052909474088183c1c5",
          "dcv/run_dtail_v2_plastic_experiment.py": "a90d5547d9cda4db9ce4fd604b4e6bbcd6bfdaae0c9119b364adfc7b42165aee",
          "dcv/dtail_v2_refine.py": "c1339ea569efd1547a024c06f0782a51b5fd3094dd7ca19dd1c4c2fd13b538cd",
          "dcv/dtail_v2_fusion.py": "cb8b908d75d5bf09fdfbe935759571e387cd2dc76ec4a4d9b6bb9d0c261671c7",
          "dcv/dtail_v2_data.py": "73f1c3b1a0dcb6f9c6357ab0b0a5dc2820b8a8651234c0be0dcf2593cdf4891d",
          "dcv/run_dtail_v2.py": "a32c14b47801e6f5b7a1b11eca3b8fb57eccb5fc33f8a5f49ccd5ca2c83a15f8",
          "dcv/hard_suite_reader.py": "8f12d1eaa6aedf439a038e98dad48e2f9776d1abc4b8dced89dd10033cf50f4e",
          "dcv/hard_suite_runtime_inputs.py": "80cef66da9b554a55191f6474ef062b9b8e0202eefcd73ba0038deed8c598578",
          "closure_jepa/rollout.py": "b671a527c18f25c432b3cf47fc2bdd0aba44e0b5b878ec19fd3f2814bb908538",
          "closure_jepa/tdjepa_pool_adapter.py": "157ba3b9500e4818607b1225648bd2f08ee367dbc995b7f5a69bceb07433d8a8",
          "closure_jepa/tdjepa_runtime.py": "eff63651f17a867ae091da53bdb93c597fcab20c099cfbaaf5d22b46431465aa"
        },
        "runtime_action_inputs": {
          "artifact_sha256": "4187ade9296ff98534b335304035ede51c9c2d488f11e3993bff7ae0f3adc143",
          "sidecar_sha256": "a1d78eac4ac03320a16d1c7f790dafb4c8291544b0cee0bab7044e23acfff8fe",
          "validation_report_sha256": "c880526c322936f6da3b35f2c97c3b0d7b287d24553a6ff9f01d5b1a6061ae43",
          "completion_marker_path": "source-file:pusht_dtail_runtime_actions_v1_1.npz.complete.json"
        }
      }
    },
    {
      "project": "D-JEPA",
      "profile": "pusht-exact-realization-full",
      "source_sha256": "edf28ce23a2c9cc511c63f1f8d64f93e9c156436ff1fccfc1cecbc5545d55be2",
      "weights_sha256": "983be0921f3b1d393ce9c6b0e6acfda8272b546ec7009e93ec0a4466a91a1ba2",
      "tensor_count": 642,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "exact_realization_world_model",
      "upstream_included": true,
      "decision": {
        "fusion_alpha": 0.42,
        "gate_threshold": -0.03162526342176623,
        "ordinal_denominator": 62,
        "gate_comparison": "strict_gt",
        "advantage_quantization": "decimal_half_even_4"
      },
      "lifting": {
        "mode": "td_radial_ordinal_v1",
        "radius_denominator": 64,
        "zero_rms_threshold": 1e-12,
        "preserved_prefix_steps": 4,
        "native_cost_dtype": "float32"
      },
      "preprocessing": {
        "image_mean": [
          0.485,
          0.456,
          0.406
        ],
        "image_std": [
          0.229,
          0.224,
          0.225
        ],
        "context_frames": 3,
        "action_block": 5,
        "future_blocks": 5,
        "action_mean": [
          -0.007812565192580223,
          0.006860686466097832
        ],
        "action_std": [
          0.2084674835205078,
          0.20674866437911987
        ]
      },
      "lineage": {
        "source_sha256": {
          "tdjepa_weights": "328db2682a311a70bc4d81b4394fcf9ac1eb8369c827dfe199283efcbaeeac80",
          "tdjepa_config": "c7c802b3c96d5233ead1839c10fc3a85c0c484ce10a755af119a9ee5b1575075",
          "lewm_object": "5487ac45812ded38e11472eb7084d28c81c18e85154293125dd51c278fcd72c9",
          "lewm_weights": "48938400ae3464c9680731287f583a9cb516f55a8ec64ea13a91be47fb15b607",
          "lewm_config": "2564086e961e7b5c7c04dffc451091115b389a590645ff19653c64fd0bc16e09",
          "refiner": "84c2b0fb93afdad9279b220ecf696642528899bb233a21ab1489c31ec7359d9f",
          "refiner_config": "b1ebb7780bdb2ccfeb345b7f9ca5a3877becb760636a61d03daf2fb4d9387695",
          "runtime_actions": "4187ade9296ff98534b335304035ede51c9c2d488f11e3993bff7ae0f3adc143",
          "hard_suite": "f3adae4e85c033465a7b663064503f1808dde7fa95a05ebe20da8c7f8db18dba"
        },
        "packaging_config_sha256": "6932eedf77a4cd8d1f5cdf6e85961291ed10637bff7375c3800c8927e097e9ce",
        "code_sha256": {
          "dtail_wm/unified_r_model.py": "6efad8811121cbd5c218daad6e319dd967de1d989fb6bc23fbe4bb2f78f3f1c3",
          "dtail_wm/package_unified_r.py": "13b0bd40ffe2851cddf566d87d2aadc833fed223b63974a6a751fe88f2276f58",
          "reviewed_r/dtail_v2_data.py": "73f1c3b1a0dcb6f9c6357ab0b0a5dc2820b8a8651234c0be0dcf2593cdf4891d",
          "reviewed_r/dtail_v2_fusion.py": "cb8b908d75d5bf09fdfbe935759571e387cd2dc76ec4a4d9b6bb9d0c261671c7",
          "reviewed_r/dtail_v2_refine.py": "c1339ea569efd1547a024c06f0782a51b5fd3094dd7ca19dd1c4c2fd13b538cd",
          "tdjepa/jepa.py": "7de87eabd061b9af3186e57198ff951e747168e4b5260bd94a51db9bd18ec62d",
          "tdjepa/module.py": "f7688fea10208c5127093bd1a7525935e12d2a6df0a0ae1f069f7c4dda99252a",
          "lewm/lewm.py": "c93fe07c57fedfa183d0a68a57d4092c2fcd53a109901027a1798d5dbae4bd6c",
          "lewm/module.py": "3a6209baf30c11f77a5f6637282a1821fc62cea827438a97b23933caab51d8c7",
          "stable_pretraining/backbone/utils.py": "269b18ca0a8e0cc9e1c7909bb349b4b094243acdc80a3fb07e847d63d2c3303b"
        },
        "runtime_source_sha256": {
          "snapshot_manifest": "8bc16050969b571d65c190e147ab59e63c1bce2b69b38ff2d179b271bff6b4f2"
        },
        "source_candidate_contract": "63_unique_positive_literal_ids_expert_zero_excluded",
        "packaging_commit": "42676e0a98249ca62ae4646a1cc5826181c36a66",
        "state_counts": {
          "tdjepa": 309,
          "lewm": 303,
          "refiner": 30
        },
        "lewm_state_attestation": {
          "sorted_key_sha256": "ade2562bd5d2be228bb9f8fb2fea26fedef83d2f8a84a4c74f469acfc18fd89d",
          "tensor_content_sha256": "f6c74a65523cb0448d620a42fa76203f22b4e19d68661518aff93eecf2e3cb77"
        }
      },
      "model_architecture": {
        "candidate_count": 63,
        "horizon": 5,
        "latent_dim": 192,
        "tdjepa_config": {
          "_target_": "jepa.JEPA",
          "encoder": {
            "_target_": "stable_pretraining.backbone.utils.vit_hf",
            "size": "tiny",
            "patch_size": 14,
            "image_size": 224,
            "pretrained": false,
            "use_mask_token": false
          },
          "predictor": {
            "_target_": "module.ARPredictor",
            "num_frames": 3,
            "input_dim": 192,
            "hidden_dim": 192,
            "output_dim": 192,
            "depth": 6,
            "heads": 16,
            "mlp_dim": 2048,
            "dim_head": 64,
            "dropout": 0.1,
            "emb_dropout": 0.0
          },
          "action_encoder": {
            "_target_": "module.Embedder",
            "input_dim": 10,
            "emb_dim": 192
          },
          "projector": {
            "_target_": "module.MLP",
            "input_dim": 192,
            "output_dim": 192,
            "hidden_dim": 2048,
            "norm_fn": {
              "_target_": "torch.nn.BatchNorm1d",
              "_partial_": true
            }
          },
          "pred_proj": {
            "_target_": "module.MLP",
            "input_dim": 192,
            "output_dim": 192,
            "hidden_dim": 2048,
            "norm_fn": {
              "_target_": "torch.nn.BatchNorm1d",
              "_partial_": true
            }
          },
          "planning_cost_mode": "td_jepa",
          "dist_head": {
            "_target_": "module.QuasimetricHead",
            "input_dim": 192,
            "hidden_dim": 512,
            "sym_dim": 128,
            "asym_dim": 128
          },
          "planning_cost_mse_blend": 0.1
        },
        "lewm_config": {
          "_target_": "stable_worldmodel.wm.lewm.LeWM",
          "encoder": {
            "_target_": "stable_pretraining.backbone.utils.vit_hf",
            "size": "tiny",
            "patch_size": 14,
            "image_size": 224,
            "pretrained": false,
            "use_mask_token": false
          },
          "predictor": {
            "_target_": "stable_worldmodel.wm.lewm.module.Predictor",
            "num_frames": 3,
            "input_dim": 192,
            "hidden_dim": 192,
            "output_dim": 192,
            "depth": 6,
            "heads": 16,
            "mlp_dim": 2048,
            "dim_head": 64,
            "dropout": 0.1,
            "emb_dropout": 0.0
          },
          "action_encoder": {
            "_target_": "stable_worldmodel.wm.lewm.module.Embedder",
            "input_dim": 10,
            "emb_dim": 192
          },
          "projector": {
            "_target_": "stable_worldmodel.wm.lewm.module.MLP",
            "input_dim": 192,
            "output_dim": 192,
            "hidden_dim": 2048,
            "norm_fn": {
              "_target_": "torch.nn.BatchNorm1d",
              "_partial_": true
            }
          },
          "pred_proj": {
            "_target_": "stable_worldmodel.wm.lewm.module.MLP",
            "input_dim": 192,
            "output_dim": 192,
            "hidden_dim": 2048,
            "norm_fn": {
              "_target_": "torch.nn.BatchNorm1d",
              "_partial_": true
            }
          }
        },
        "refiner_config": {
          "hidden_dim": 64,
          "low_rank": 8,
          "max_correction": 0.2
        }
      },
      "deployment": "One file containing two pretrained predictors and the relational operator; not single-backbone distillation."
    },
    {
      "project": "D-JEPA",
      "profile": "pusht-multi-geometry",
      "source_sha256": "d187c0efc194e6faa39007be835f3cca820b16fd95adfb1d7283f3d44d108b56",
      "weights_sha256": "801c92fc312b071fbc43b1e2153ae1ca25c08b1a3ae95110b38c7482e99c0fe3",
      "tensor_count": 30,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "set_aligner",
      "input_dim": 388,
      "max_correction": 0.2,
      "gate_threshold": 0.027186155319213864,
      "gate_mode": "base_minus_refined",
      "gate_decimals": null,
      "base_geometry": "jepa_wm",
      "geometry_order": [
        "lewm",
        "temporal_distance",
        "jepa_wm",
        "dino_wm"
      ],
      "upstream_included": false,
      "lineage": {
        "schema": "dtail_multi_geometry_lineage_v1",
        "scope": "locked_development",
        "config_sha256": "16a4170801d3b84cfaea19565f1d7fb80663adcb30fa6164eeec3d54da7cba1d",
        "runner_sha256": "7dff9d912ec14c1a8dc540907626b203843ff5cb632a9fcb730d1e89cf0ebfe9",
        "pool_sha256": "f3adae4e85c033465a7b663064503f1808dde7fa95a05ebe20da8c7f8db18dba",
        "registry_sha256": "84b7b1044b958a0bfc85f9838b8ff82568fad5c76ac742ac29a79cedf6b87f65",
        "dependency_sha256": {
          "source-file:multi_geometry.py": "e3a50a62fd36b4552ae19623691b044442af36bbb1c3925d410c027884d76ac2",
          "source-file:physical_join.py": "c742a241edab03e43107f52a0207fa669a66e0fe430ec29736789892ca510c03",
          "source-file:aggregate.py": "95b478b8f5a7827e3c1963176245d8e229fbca3f73798b71becbce02cb6c75ad",
          "source-file:registry.py": "e7ccd4e18f708c31267f5681f56812cc811a489a84d9c2499cd0dca9d3d7d08f",
          "source-file:releases.py": "3ecdb263a4e87bf3e5ba317d7baf15f648dd132d97cf641cc49e728678f632f2",
          "source-file:score_io.py": "126a7b713a8d02c8b0af69922a1073495e45a1713b2ab44f2ca683a15e438beb",
          "source-file:route_experiment.py": "ad558c3b16209ff6b8b709a645ab134e63fc8883397f8124552e80d4f0239090",
          "source-file:run_multi_geometry_routes.py": "7dff9d912ec14c1a8dc540907626b203843ff5cb632a9fcb730d1e89cf0ebfe9",
          "source-file:dtail_v2_data.py": "73f1c3b1a0dcb6f9c6357ab0b0a5dc2820b8a8651234c0be0dcf2593cdf4891d",
          "source-file:dtail_v2_refine.py": "c1339ea569efd1547a024c06f0782a51b5fd3094dd7ca19dd1c4c2fd13b538cd",
          "source-file:run_dtail_v2.py": "a32c14b47801e6f5b7a1b11eca3b8fb57eccb5fc33f8a5f49ccd5ca2c83a15f8"
        },
        "train_release_sha256": "3c6770e13abfaf4e890d0e273cf530e0b54df690f46683f7395c4c9a3b5e74bc",
        "development_release_sha256": "5b0dbee6f1693692037ef65016678adeee7cfa7b08fb5646ff86dbc95a9e0c72",
        "external_score_sha256": {
          "train": {
            "jepa_wm": "0c6d7efa4abb1c822d9511cf0ef36aed0f7e5acb157c0973e344313e8c2681e2",
            "dino_wm": "5eaff47859b272b90c424893e41f281a66902cbc45e2b7162a06bc87d5e462a7"
          },
          "development": {
            "jepa_wm": "7fc522ca6ddde02a4eb673a4e469b5a30e7a3510b5452d3bcdfedf0d3bd51c83",
            "dino_wm": "80c4fb904fa12c305294431047962ae35e8bbf4810056d1085d1d80903491588"
          }
        },
        "geometry_order": [
          "lewm",
          "temporal_distance",
          "jepa_wm",
          "dino_wm"
        ],
        "convex_weights": [
          0.0,
          0.0,
          0.25,
          0.75
        ],
        "fusion_train_correct": 444,
        "fit_count": 448,
        "method": "dtail_jepa_base_multi_geometry",
        "initial_state_sha256": "947de445ddfe14280fa74a200bf12c56d47113a191942d1e5144a06dbff8a836",
        "best_update": 900,
        "threshold": 0.027186155319213864,
        "calibration_correct": 64,
        "calibration_count": 64
      },
      "evaluation_scope": "development_128"
    },
    {
      "project": "D-JEPA",
      "profile": "pusht-predictive-adaptation",
      "source_sha256": "ccbd6ca30c550b60a186c5d0a1fa5f1a43b7a08b704b19037586ff3de52b0887",
      "weights_sha256": "b2bcb7880fb9477a7bb9aaa3c3380b66e4cd5e1767a4093f990c72766ff8e49a",
      "tensor_count": 22,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "predictor_patch",
      "upstream_included": false,
      "base_checkpoint_sha256": "328db2682a311a70bc4d81b4394fcf9ac1eb8369c827dfe199283efcbaeeac80",
      "lineage": {
        "method": "dtail_jepa_p_v2",
        "pool_sha256": "f3adae4e85c033465a7b663064503f1808dde7fa95a05ebe20da8c7f8db18dba",
        "tdjepa_sha256": "328db2682a311a70bc4d81b4394fcf9ac1eb8369c827dfe199283efcbaeeac80",
        "refiner_sha256": "84c2b0fb93afdad9279b220ecf696642528899bb233a21ab1489c31ec7359d9f",
        "refiner_lineage": {
          "method": "dtail_jepa_r_v2",
          "pool_sha256": "f3adae4e85c033465a7b663064503f1808dde7fa95a05ebe20da8c7f8db18dba",
          "lewm_weights_sha256": "5487ac45812ded38e11472eb7084d28c81c18e85154293125dd51c278fcd72c9",
          "tdjepa_weights_sha256": "328db2682a311a70bc4d81b4394fcf9ac1eb8369c827dfe199283efcbaeeac80",
          "fusion_alpha": 0.42,
          "fit_start_count": 448,
          "calibration_start_count": 64,
          "best_update": 550
        },
        "trainable_names": [
          "predictor.transformer.layers.5.attn.norm.weight",
          "predictor.transformer.layers.5.attn.norm.bias",
          "predictor.transformer.layers.5.attn.to_qkv.weight",
          "predictor.transformer.layers.5.attn.to_out.0.weight",
          "predictor.transformer.layers.5.attn.to_out.0.bias",
          "predictor.transformer.layers.5.mlp.net.0.weight",
          "predictor.transformer.layers.5.mlp.net.0.bias",
          "predictor.transformer.layers.5.mlp.net.1.weight",
          "predictor.transformer.layers.5.mlp.net.1.bias",
          "predictor.transformer.layers.5.mlp.net.4.weight",
          "predictor.transformer.layers.5.mlp.net.4.bias",
          "predictor.transformer.layers.5.adaLN_modulation.1.weight",
          "predictor.transformer.layers.5.adaLN_modulation.1.bias",
          "pred_proj.net.0.weight",
          "pred_proj.net.0.bias",
          "pred_proj.net.1.weight",
          "pred_proj.net.1.bias",
          "pred_proj.net.3.weight",
          "pred_proj.net.3.bias"
        ],
        "best_update": 200,
        "fit_start_count": 384,
        "calibration_start_count": 128,
        "fusion_alpha": 0.42,
        "config_digest": "c65cc25c5968eb762c77ec6069170551d20119f2cfa71ddd4beab795be167007",
        "code_sha256": {
          "dcv/dtail_v2_plastic.py": "09f0140772ea98962fcc78a2383d2d8d309b3e55bcea71f3c1ff28af15b460a9",
          "dcv/dtail_v2_plastic_data.py": "514feac427ce8318f5199eed209449ec87cf730b60bbf02e20e09edac9c1b115",
          "dcv/train_dtail_v2_plastic.py": "1e3da1d9b2608dd1509efdcb5a4e248a8ea4498f921c9052909474088183c1c5",
          "dcv/run_dtail_v2_plastic_experiment.py": "a90d5547d9cda4db9ce4fd604b4e6bbcd6bfdaae0c9119b364adfc7b42165aee",
          "dcv/dtail_v2_refine.py": "c1339ea569efd1547a024c06f0782a51b5fd3094dd7ca19dd1c4c2fd13b538cd",
          "dcv/dtail_v2_fusion.py": "cb8b908d75d5bf09fdfbe935759571e387cd2dc76ec4a4d9b6bb9d0c261671c7",
          "dcv/dtail_v2_data.py": "73f1c3b1a0dcb6f9c6357ab0b0a5dc2820b8a8651234c0be0dcf2593cdf4891d",
          "dcv/run_dtail_v2.py": "a32c14b47801e6f5b7a1b11eca3b8fb57eccb5fc33f8a5f49ccd5ca2c83a15f8",
          "dcv/hard_suite_reader.py": "8f12d1eaa6aedf439a038e98dad48e2f9776d1abc4b8dced89dd10033cf50f4e",
          "dcv/hard_suite_runtime_inputs.py": "80cef66da9b554a55191f6474ef062b9b8e0202eefcd73ba0038deed8c598578",
          "closure_jepa/rollout.py": "b671a527c18f25c432b3cf47fc2bdd0aba44e0b5b878ec19fd3f2814bb908538",
          "closure_jepa/tdjepa_pool_adapter.py": "157ba3b9500e4818607b1225648bd2f08ee367dbc995b7f5a69bceb07433d8a8",
          "closure_jepa/tdjepa_runtime.py": "eff63651f17a867ae091da53bdb93c597fcab20c099cfbaaf5d22b46431465aa"
        },
        "runtime_action_inputs": {
          "artifact_sha256": "4187ade9296ff98534b335304035ede51c9c2d488f11e3993bff7ae0f3adc143",
          "sidecar_sha256": "a1d78eac4ac03320a16d1c7f790dafb4c8291544b0cee0bab7044e23acfff8fe",
          "validation_report_sha256": "c880526c322936f6da3b35f2c97c3b0d7b287d24553a6ff9f01d5b1a6061ae43",
          "completion_marker_path": "source-file:pusht_dtail_runtime_actions_v1_1.npz.complete.json"
        }
      },
      "usage": "Load exact pretrained Temporal-Distance-JEPA then replace these parameters. This is a parameter patch, not a full predictor."
    },
    {
      "project": "D-JEPA",
      "profile": "pusht-relational",
      "source_sha256": "84c2b0fb93afdad9279b220ecf696642528899bb233a21ab1489c31ec7359d9f",
      "weights_sha256": "efea4301f605f681c7f85f934a6ecdcafa9984058f72be3be2d625bfc9e16941",
      "tensor_count": 30,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "set_aligner",
      "input_dim": 386,
      "max_correction": 0.2,
      "fusion_alpha": 0.42,
      "gate_threshold": -0.03162526342176623,
      "gate_mode": "base_minus_refined",
      "gate_decimals": null,
      "upstream_included": false,
      "lineage": {
        "method": "dtail_jepa_r_v2",
        "pool_sha256": "f3adae4e85c033465a7b663064503f1808dde7fa95a05ebe20da8c7f8db18dba",
        "lewm_weights_sha256": "5487ac45812ded38e11472eb7084d28c81c18e85154293125dd51c278fcd72c9",
        "tdjepa_weights_sha256": "328db2682a311a70bc4d81b4394fcf9ac1eb8369c827dfe199283efcbaeeac80",
        "fusion_alpha": 0.42,
        "fit_start_count": 448,
        "calibration_start_count": 64,
        "best_update": 550
      }
    },
    {
      "project": "D-JEPA",
      "profile": "pusht-visual-shifts",
      "source_sha256": "c9552d2ab5d477d5c07d71f64ac66a315f3bbcf287f866c40d64e857c67bac22",
      "weights_sha256": "cf36d6bd0af016d8adf2358d78feeda33c1bbf062eef1d0be6332ca1bb28f2e3",
      "tensor_count": 30,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "set_aligner",
      "input_dim": 3,
      "max_correction": 0.2,
      "fusion_alpha": 0.5,
      "gate_threshold": 0.01,
      "gate_mode": "refined_gap",
      "gate_decimals": null,
      "upstream_included": false,
      "training": {
        "schema": "djepa-pushobj-relational-v1",
        "seed": 20260906,
        "epochs": 120,
        "learning_rate": 0.0003,
        "batch_size": 16,
        "input_dim": 3,
        "max_correction": 0.2,
        "source_model": "frozen_pusht_visual_shift_release",
        "feature_mode": "ordinal",
        "fusion_weight_selected_on_calibration": true,
        "base_mode": "rank_fusion",
        "fusion_alpha": 0.5,
        "train_completion_sha256": "f13d2fa6a3ff152532c1acad7ec209e389737cbbee27a7ee9fce46bc39819bb8",
        "calibration_completion_sha256": "a8e5952e7f3a6e2000d075f9198bffa99ddae1bc94b3b027953c0431d5bb81b6",
        "torch": "2.3.0+cu121",
        "train_code_sha256": "b890ce79e62d3787f405f14971dee1acdd1edc2e9f58b33ae9146b1ccc5e3247",
        "model_code_sha256": "4db0e1740c89fdcbaea98cd07abd1f5d0fbdee85abb42d3791524dc6a6a8bc86"
      },
      "selected_epoch": 20
    },
    {
      "project": "D-JEPA",
      "profile": "reacher-relational",
      "source_sha256": "2bca723eaca2ef1dd7d01182b1f6f0b545aba646076b9e8ce7ba6f9f119bce05",
      "weights_sha256": "5160c04ac103589b33820133b0cb221189931382c3e6ef3bf21d9232bed830d3",
      "tensor_count": 30,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "set_aligner",
      "input_dim": 386,
      "max_correction": 0.2,
      "fusion_alpha": 0.4,
      "gate_threshold": 0.12511829772303182,
      "gate_mode": "base_minus_refined",
      "gate_decimals": 8,
      "upstream_included": false,
      "bindings": {
        "training_completion_sha256": "9af702ae3c9f3321863fc96c7f7dd1132748f6846cc07e289f8d28657fd7c636",
        "full_pool_completion_sha256": "839dbbd1ace0dde4492b1d4e5a167fab12814f1330db0c00ea9d301639bdd964",
        "capacity_gate_completion_sha256": "d6bab3c79667923f85efdb9e187f80eb20739db200ec83452efbee6edc47f6b2",
        "b2_config_sha256": "737a766a978f16847ba8dbb240ce13f11bcda28b6d23b19f38082218563c6f73",
        "packager_code_sha256": "4d8cbd215a0cf852a90d355be0dbeab661d6aeff17f4cc6eb6f01319446f8298"
      }
    },
    {
      "project": "D-JEPA",
      "profile": "reacher-temporal-transport",
      "source_sha256": "2bca723eaca2ef1dd7d01182b1f6f0b545aba646076b9e8ce7ba6f9f119bce05",
      "weights_sha256": "cf8c57a00e891fc002f9e595e3cf89c8a52a163e42c57059919bc1cfdddd883f",
      "tensor_count": 4,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "temporal_transport",
      "hidden_dim": 32,
      "radius": 0.1,
      "fusion_alpha": 0.4,
      "gate_threshold": 0.12511829772303182,
      "gate_mode": "base_minus_refined",
      "gate_decimals": 8,
      "upstream_included": false,
      "bindings": {
        "training_completion_sha256": "9af702ae3c9f3321863fc96c7f7dd1132748f6846cc07e289f8d28657fd7c636",
        "full_pool_completion_sha256": "839dbbd1ace0dde4492b1d4e5a167fab12814f1330db0c00ea9d301639bdd964",
        "capacity_gate_completion_sha256": "d6bab3c79667923f85efdb9e187f80eb20739db200ec83452efbee6edc47f6b2",
        "b2_config_sha256": "737a766a978f16847ba8dbb240ce13f11bcda28b6d23b19f38082218563c6f73",
        "packager_code_sha256": "4d8cbd215a0cf852a90d355be0dbeab661d6aeff17f4cc6eb6f01319446f8298"
      },
      "physical_selector": "relational score; transported distance is a distinct diagnostic"
    },
    {
      "project": "D-JEPA",
      "profile": "reacher-world-model-full",
      "source_sha256": "2bca723eaca2ef1dd7d01182b1f6f0b545aba646076b9e8ce7ba6f9f119bce05",
      "weights_sha256": "f7331bf87bf4c8543fa8797072e660266e55d9a9354702120cec1faadd76609a",
      "tensor_count": 646,
      "public_status": "local_release_candidate_license_not_yet_selected",
      "architecture": "reacher_world_model",
      "fusion_alpha": 0.4,
      "gate_threshold": 0.12511829772303182,
      "gate_mode": "base_minus_refined",
      "gate_decimals": 8,
      "upstream_included": true,
      "bindings": {
        "training_completion_sha256": "9af702ae3c9f3321863fc96c7f7dd1132748f6846cc07e289f8d28657fd7c636",
        "full_pool_completion_sha256": "839dbbd1ace0dde4492b1d4e5a167fab12814f1330db0c00ea9d301639bdd964",
        "capacity_gate_completion_sha256": "d6bab3c79667923f85efdb9e187f80eb20739db200ec83452efbee6edc47f6b2",
        "b2_config_sha256": "737a766a978f16847ba8dbb240ce13f11bcda28b6d23b19f38082218563c6f73",
        "packager_code_sha256": "4d8cbd215a0cf852a90d355be0dbeab661d6aeff17f4cc6eb6f01319446f8298"
      },
      "state_groups": [
        "tdjepa",
        "lewm",
        "adapters"
      ],
      "physical_selector": "relational score"
    }
  ]
}