{ "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" } ] }