Model card

README.md

@@ -21,12 +21,12 @@ baseline. One seed of every released configuration is here (seed 42 for the simu
 
 ## What runs
 
-The encoder and every level's state encoder, action encoder, predictor and latent rollout (`jepa_hjepa_*` in
-`include/jepa.h`). The paper's top-down gradient planner is not in the engine yet.
+The encoder, every level's state encoder, action encoder, predictor and latent rollout, and the paper's top-down
+gradient planner (`jepa_hjepa_*` in `include/jepa.h`; `jepa-plan` goes from an observation and a goal image to actions).
 
 ```sh
 hf download jepacpp/h-jepa-GGUF ant/ant_hjepa_l3-seed42-f16.gguf --local-dir models/gguf
-jepa-info models/gguf/ant/ant_hjepa_l3-seed42-f16.gguf
+jepa-plan -m models/gguf/ant/ant_hjepa_l3-seed42-f16.gguf --obs now.png --goal goal.png --horizons 2,2,5 --samples 100,100,400
 ```
 
 ## Parity with the authors' PyTorch
@@ -124,9 +124,13 @@ row cosine over all of those comparisons, `rel max` the largest max-abs error re
 | `droid/droid_lewm-seed1-f16.gguf` | 1 | 130.1 MB | 0.9999997 | 4.5e-04 |
 | `droid/droid_lewm-seed1-q8_0.gguf` | 1 | 90.3 MB | 0.9998426 | 1.2e-02 |
 
-Measured at jepa.cpp `4f95a94`, CPU. Bars: tests/test-predictor.cpp thresholds_for(): f32 cos >= 0.9999 and rel <= 1e-3; f16 cos_mean >= 0.9999, cos_min >= 0.99; q8_0 cos_mean >= 0.999, cos_min >= 0.98.
+Measured at jepa.cpp `871b994`, CPU. Bars: tests/test-predictor.cpp thresholds_for(): f32 cos >= 0.9999 and rel <= 1e-3; f16 cos_mean >= 0.9999, cos_min >= 0.99; q8_0 cos_mean >= 0.999, cos_min >= 0.98.
 `q4_k` and below do not clear the q8_0 bars on these small models and are not published.
 
+The planner is checked against the authors' `GradientSolver` / `HierarchicalSolver` replayed on their own random
+draws: at f32 every cost, autograd gradient, solve and hierarchical plan matches, and at f16 every cost and gradient.
+A q8_0 file is verified as a forward model only; whether it plans as well as f32 has not been measured in closed loop.
+
 ## Inputs
 
 Frames are squash-resized to the encoder's image size and ImageNet-normalised (`jepa.pre.*`). Actions and