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| license: apache-2.0 |
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| # ALTER simulation model card |
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| Authors: Dayi Dong, Maulik Bhatt, Aayushi Shrivastava, Lasse Peters, Negar Mehr. |
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| Contains the selected frozen base and 18 distinct adapted policies for the |
| reported two-arm budgets and coordination-head capacity comparison. Base and |
| normalization statistics are paired in the workflow artifact matrix. Model and |
| EMA state tensors are preserved; exported path-bearing metadata is sanitized |
| with original/export checksum receipts. Existing module/checkpoint formats are |
| retained. ResNet18 encoder parameters are contained in the policy files. |
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| See USAGE.md for downloads and the status of the accompanying code release. |
| The fromscratch inference route also loads full-policy FT checkpoints. |
| These are research policies for their recorded observation/action conventions; |
| transfer to another robot or scene has not been validated by this release work. |
| Hardware checkpoints are released separately under `hardware/v1/`. |
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| Preparation checks cover loading all selected pairs, fixed-input source/public |
| parity for the representative base/head, one CPU training update, frozen-base |
| behavior, save/reload, and short simulation rollouts. They do not re-establish |
| paper success rates. Original selection/evaluation records are included as |
| historical evidence. FT-mixed selection-panel wording remains under review. |
| The base's original training contract is missing from the inspected archive. |
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| ## License and attribution |
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| Original ALTER checkpoints and accompanying original records are released under |
| Apache-2.0; see LICENSE and NOTICE. This license does not replace terms for any |
| separately obtained third-party dependencies, assets or the paper. |
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| Paper: [Residual Denoising Enables Sample-Efficient Multi-Agent Coordination on Demand](https://arxiv.org/abs/2609.32129). |
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| ## Hardware v1 |
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| Selected hardware models, source data and exact prepared caches are now available |
| under [hardware/v1](hardware/v1/README.md). See the [hardware download guide](hardware/v1/USAGE.md) |
| for the separate pinned manifest, selective downloads and offline validation. |
| Simulation payloads and their pinned revisions remain unchanged. |
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