Upload 38 files

README.md

@@ -1,3 +1,78 @@
 ---
-license: apache-2.0
+language:
+- en
+tags:
+- world-model
+- jepa
+- robotics
+- decision-alignment
+library_name: pytorch
+datasets:
+- Shuaijun/D-JEPA-Dataset
 ---
+
+# D-JEPA checkpoints
+
+**[Project website](https://nebulis-lab.com/D-JEPA)** ·
+**[Model repository](https://huggingface.co/Shuaijun/D-JEPA)** ·
+**[Decision-supervision dataset](https://huggingface.co/datasets/Shuaijun/D-JEPA-Dataset)** ·
+**[Code](https://github.com/NEBULIS-Lab/D-JEPA)**
+
+Task/module profiles for **D-JEPA: A Decision-Aligned Latent World Model**.
+See each profile's `README.md` and `config.json` for architecture, provenance,
+upstream dependencies, calibrated decisions and tensor-file checksums.
+
+## Choose a checkpoint profile
+
+| Task | Profile | Contents |
+|---|---|---|
+| PushT | [Relational alignment](./pusht-relational/README.md) | Learned decision-alignment module |
+| PushT | [Predictive adaptation](./pusht-predictive-adaptation/README.md) | Updated parameters; requires the exact base model |
+| PushT | [Adapted predictor](./pusht-adapted-predictor-full/README.md) | Full predictor weights |
+| PushT | [Multi-geometry alignment](./pusht-multi-geometry/README.md) | Module using four predictive geometries |
+| PushT | [Exact representation realization](./pusht-exact-realization-full/README.md) | Two predictors and relation module in one tensor file |
+| Reacher | [Relational alignment](./reacher-relational/README.md) | Task-specific decision-alignment module |
+| Reacher | [Temporal transport](./reacher-temporal-transport/README.md) | Bounded future-update module |
+| Reacher | [Full model](./reacher-world-model-full/README.md) | Predictors, alignment and transport weights |
+| Granular | [Relational alignment](./granular-relational/README.md) | Spatial-feature alignment module |
+| Granular | [Multi-view alignment](./granular-multiview/README.md) | Four-view variant using the same backbone |
+| PushObj | [Unseen-shape transfer](./pushobj-unseen-shapes/README.md) | Task-local ordinal alignment module |
+| PushT | [Visual-shift alignment](./pusht-visual-shifts/README.md) | Corruption-trained ordinal alignment module |
+
+These are configurations of **D-JEPA**, not 12 separate methods. Each profile
+contains `model.pt`, `config.json` and its own card. The [manifest](./manifest.json)
+indexes source and exported weight hashes.
+
+## Loading and dependencies
+
+All `model.pt` files contain tensor dictionaries and support
+`torch.load(path, map_location="cpu", weights_only=True)`. Exact tensor values
+from selected formal checkpoints are preserved. Packaging removes optimizer
+state and private path metadata; exported file hashes are therefore distinct
+from original training-file hashes.
+
+```python
+import torch
+
+state = torch.load("pusht-relational/model.pt", map_location="cpu", weights_only=True)
+```
+
+This reads a tensor state dictionary, not an instantiated model. Use the matching
+D-JEPA architecture and configuration; these custom modules are not loaded through
+Transformers `AutoModel.from_pretrained`.
+
+Profiles with `upstream_included: true` contain pretrained predictors. Other
+profiles contain our learned modules or updated parameter subsets and require
+their recorded predictive models/features. `pusht-exact-realization-full` is
+one file containing two predictors and a relational operator, not a distilled
+single-backbone student.
+
+Reacher's physical result uses the relational selector; temporal transport is
+also provided but its native-distance diagnostic is not a substitute result.
+Multi-geometry's 128-start development result remains a separate protocol from
+the independent 256-start PushT evaluation.
+
+Local release candidate: authors have not yet selected publication licenses or
+completed all upstream weight redistribution checks. This card grants no new
+rights to third-party material. The author-designated repository is
+`Shuaijun/D-JEPA`.

granular-multiview/README.md

@@ -0,0 +1,13 @@
+# D-JEPA: granular-multiview
+
+- Architecture: `granular`.
+- Tensor count: 30.
+- Includes pretrained predictor weights: false.
+- Original checkpoint SHA256: `e796fa3ee2fbc6f5b4abdfae99e8fa843606f923284a7fb95f59c0fc6c512c70`.
+- Exported tensor-file SHA256: `2ee5783def21816054645f87d9cffa50900733b7218a2b9ee203ae39aec682ff`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Input width: 4. Gate: `base_minus_refined`, strict threshold `-0.010684727949480862`; quantization decimals: `None`. Candidate IDs and feature preprocessing must match the task profile.
+
+Project license is selected by the authors before public upload.

granular-multiview/config.json

@@ -0,0 +1,51 @@
+{
+  "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
+  }
+}

granular-multiview/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee5783def21816054645f87d9cffa50900733b7218a2b9ee203ae39aec682ff
+size 279105

granular-relational/README.md

@@ -0,0 +1,13 @@
+# D-JEPA: granular-relational
+
+- Architecture: `granular`.
+- Tensor count: 30.
+- Includes pretrained predictor weights: false.
+- Original checkpoint SHA256: `8f613280f8084e8c6403e42db138f73e01b4c43b9235e62bfd36734727836895`.
+- Exported tensor-file SHA256: `a7f2b70c1d1d853cf5dbd391f3560828f28015a72092938a978dff1a0e497504`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Input width: 2305. Gate: `base_minus_refined`, strict threshold `-0.06998290770476866`; quantization decimals: `None`. Candidate IDs and feature preprocessing must match the task profile.
+
+Project license is selected by the authors before public upload.

granular-relational/config.json

@@ -0,0 +1,46 @@
+{
+  "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
+  }
+}

granular-relational/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7f2b70c1d1d853cf5dbd391f3560828f28015a72092938a978dff1a0e497504
+size 886593

manifest.json

@@ -0,0 +1,702 @@
+{
+  "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"
+    }
+  ]
+}

pushobj-unseen-shapes/README.md

@@ -0,0 +1,13 @@
+# D-JEPA: pushobj-unseen-shapes
+
+- Architecture: `set_aligner`.
+- Tensor count: 30.
+- Includes pretrained predictor weights: false.
+- Original checkpoint SHA256: `941dbd680a7dd179a798e208785bb2a68e3011753eb6d938f5f44a1f7c5ff404`.
+- Exported tensor-file SHA256: `8797c805e77fa56017f2ba9d1699f5ffd2bdc415cb2882e01322290ff6e32024`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Input width: 3. Gate: `refined_gap`, strict threshold `0.0`; quantization decimals: `None`. Candidate IDs and feature preprocessing must match the task profile.
+
+Project license is selected by the authors before public upload.

pushobj-unseen-shapes/config.json

@@ -0,0 +1,36 @@
+{
+  "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
+}

pushobj-unseen-shapes/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8797c805e77fa56017f2ba9d1699f5ffd2bdc415cb2882e01322290ff6e32024
+size 279233

pusht-adapted-predictor-full/README.md

@@ -0,0 +1,11 @@
+# D-JEPA: pusht-adapted-predictor-full
+
+- Architecture: `pretrained_predictor`.
+- Tensor count: 309.
+- Includes pretrained predictor weights: true.
+- Original checkpoint SHA256: `ccbd6ca30c550b60a186c5d0a1fa5f1a43b7a08b704b19037586ff3de52b0887`.
+- Exported tensor-file SHA256: `26cb528b6ba5b3b6e7d464eeb9a75f599ac28641617666e0638c9e51de2b9083`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Publication hold: upstream weight redistribution terms must be confirmed before upload.

pusht-adapted-predictor-full/config.json

@@ -0,0 +1,73 @@
+{
+  "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"
+    }
+  }
+}

pusht-adapted-predictor-full/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26cb528b6ba5b3b6e7d464eeb9a75f599ac28641617666e0638c9e51de2b9083
+size 73174815

pusht-exact-realization-full/README.md

@@ -0,0 +1,11 @@
+# D-JEPA: pusht-exact-realization-full
+
+- Architecture: `exact_realization_world_model`.
+- Tensor count: 642.
+- Includes pretrained predictor weights: true.
+- Original checkpoint SHA256: `edf28ce23a2c9cc511c63f1f8d64f93e9c156436ff1fccfc1cecbc5545d55be2`.
+- Exported tensor-file SHA256: `983be0921f3b1d393ce9c6b0e6acfda8272b546ec7009e93ec0a4466a91a1ba2`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Publication hold: upstream weight redistribution terms must be confirmed before upload.

pusht-exact-realization-full/config.json

@@ -0,0 +1,205 @@
+{
+  "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."
+}

pusht-exact-realization-full/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:983be0921f3b1d393ce9c6b0e6acfda8272b546ec7009e93ec0a4466a91a1ba2
+size 145803819

pusht-multi-geometry/README.md

@@ -0,0 +1,13 @@
+# D-JEPA: pusht-multi-geometry
+
+- Architecture: `set_aligner`.
+- Tensor count: 30.
+- Includes pretrained predictor weights: false.
+- Original checkpoint SHA256: `d187c0efc194e6faa39007be835f3cca820b16fd95adfb1d7283f3d44d108b56`.
+- Exported tensor-file SHA256: `801c92fc312b071fbc43b1e2153ae1ca25c08b1a3ae95110b38c7482e99c0fe3`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Input width: 388. Gate: `base_minus_refined`, strict threshold `0.027186155319213864`; quantization decimals: `None`. Candidate IDs and feature preprocessing must match the task profile.
+
+Project license is selected by the authors before public upload.

pusht-multi-geometry/config.json

@@ -0,0 +1,76 @@
+{
+  "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"
+}

pusht-multi-geometry/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801c92fc312b071fbc43b1e2153ae1ca25c08b1a3ae95110b38c7482e99c0fe3
+size 377793

pusht-predictive-adaptation/README.md

@@ -0,0 +1,11 @@
+# D-JEPA: pusht-predictive-adaptation
+
+- Architecture: `predictor_patch`.
+- Tensor count: 22.
+- Includes pretrained predictor weights: false.
+- Original checkpoint SHA256: `ccbd6ca30c550b60a186c5d0a1fa5f1a43b7a08b704b19037586ff3de52b0887`.
+- Exported tensor-file SHA256: `b2bcb7880fb9477a7bb9aaa3c3380b66e4cd5e1767a4093f990c72766ff8e49a`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Project license is selected by the authors before public upload.

pusht-predictive-adaptation/config.json

@@ -0,0 +1,75 @@
+{
+  "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."
+}

pusht-predictive-adaptation/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2bcb7880fb9477a7bb9aaa3c3380b66e4cd5e1767a4093f990c72766ff8e49a
+size 10387305

pusht-relational/README.md

@@ -0,0 +1,13 @@
+# D-JEPA: pusht-relational
+
+- Architecture: `set_aligner`.
+- Tensor count: 30.
+- Includes pretrained predictor weights: false.
+- Original checkpoint SHA256: `84c2b0fb93afdad9279b220ecf696642528899bb233a21ab1489c31ec7359d9f`.
+- Exported tensor-file SHA256: `efea4301f605f681c7f85f934a6ecdcafa9984058f72be3be2d625bfc9e16941`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Input width: 386. Gate: `base_minus_refined`, strict threshold `-0.03162526342176623`; quantization decimals: `None`. Candidate IDs and feature preprocessing must match the task profile.
+
+Project license is selected by the authors before public upload.

pusht-relational/config.json

@@ -0,0 +1,26 @@
+{
+  "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
+  }
+}

pusht-relational/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efea4301f605f681c7f85f934a6ecdcafa9984058f72be3be2d625bfc9e16941
+size 377281

pusht-visual-shifts/README.md

@@ -0,0 +1,13 @@
+# D-JEPA: pusht-visual-shifts
+
+- Architecture: `set_aligner`.
+- Tensor count: 30.
+- Includes pretrained predictor weights: false.
+- Original checkpoint SHA256: `c9552d2ab5d477d5c07d71f64ac66a315f3bbcf287f866c40d64e857c67bac22`.
+- Exported tensor-file SHA256: `cf36d6bd0af016d8adf2358d78feeda33c1bbf062eef1d0be6332ca1bb28f2e3`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Input width: 3. Gate: `refined_gap`, strict threshold `0.01`; quantization decimals: `None`. Candidate IDs and feature preprocessing must match the task profile.
+
+Project license is selected by the authors before public upload.

pusht-visual-shifts/config.json

@@ -0,0 +1,36 @@
+{
+  "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
+}

pusht-visual-shifts/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf36d6bd0af016d8adf2358d78feeda33c1bbf062eef1d0be6332ca1bb28f2e3
+size 279233

reacher-relational/README.md

@@ -0,0 +1,13 @@
+# D-JEPA: reacher-relational
+
+- Architecture: `set_aligner`.
+- Tensor count: 30.
+- Includes pretrained predictor weights: false.
+- Original checkpoint SHA256: `2bca723eaca2ef1dd7d01182b1f6f0b545aba646076b9e8ce7ba6f9f119bce05`.
+- Exported tensor-file SHA256: `5160c04ac103589b33820133b0cb221189931382c3e6ef3bf21d9232bed830d3`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Input width: 386. Gate: `base_minus_refined`, strict threshold `0.12511829772303182`; quantization decimals: `8`. Candidate IDs and feature preprocessing must match the task profile.
+
+Project license is selected by the authors before public upload.

reacher-relational/config.json

@@ -0,0 +1,23 @@
+{
+  "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"
+  }
+}

reacher-relational/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5160c04ac103589b33820133b0cb221189931382c3e6ef3bf21d9232bed830d3
+size 377281

reacher-temporal-transport/README.md

@@ -0,0 +1,11 @@
+# D-JEPA: reacher-temporal-transport
+
+- Architecture: `temporal_transport`.
+- Tensor count: 4.
+- Includes pretrained predictor weights: false.
+- Original checkpoint SHA256: `2bca723eaca2ef1dd7d01182b1f6f0b545aba646076b9e8ce7ba6f9f119bce05`.
+- Exported tensor-file SHA256: `cf8c57a00e891fc002f9e595e3cf89c8a52a163e42c57059919bc1cfdddd883f`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Project license is selected by the authors before public upload.

reacher-temporal-transport/config.json

@@ -0,0 +1,24 @@
+{
+  "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"
+}

reacher-temporal-transport/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf8c57a00e891fc002f9e595e3cf89c8a52a163e42c57059919bc1cfdddd883f
+size 3081

reacher-world-model-full/README.md

@@ -0,0 +1,11 @@
+# D-JEPA: reacher-world-model-full
+
+- Architecture: `reacher_world_model`.
+- Tensor count: 646.
+- Includes pretrained predictor weights: true.
+- Original checkpoint SHA256: `2bca723eaca2ef1dd7d01182b1f6f0b545aba646076b9e8ce7ba6f9f119bce05`.
+- Exported tensor-file SHA256: `f7331bf87bf4c8543fa8797072e660266e55d9a9354702120cec1faadd76609a`.
+
+Load `model.pt` with `torch.load(..., map_location="cpu", weights_only=True)`. Use the matching D-JEPA code profile and JSON configuration. Tensor values are unchanged; metadata and optimizer state have been separated.
+
+Publication hold: upstream weight redistribution terms must be confirmed before upload.

reacher-world-model-full/config.json

@@ -0,0 +1,27 @@
+{
+  "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"
+}

reacher-world-model-full/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7331bf87bf4c8543fa8797072e660266e55d9a9354702120cec1faadd76609a
+size 145806043