{ "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." }