| # Decoupled reading: model weights (backup 2026-09-30) | |
| - `reader_weights/`: decoupled reader (12 `obs_encoder.ptr_*` tensors) + normalizer + cfg for every sequence-training run (`INDEX.json`); the BPP policy is frozen, so released BPP checkpoint + these = full model. | |
| - `full/`: full checkpoints, learned-count reader (LEVT L1/L2) and joint-training ablations. | |
| - `full_policy_trained/`: runs that also trained the policy (sync/content/nocopy/lnc/dag/factorslot). | |
| - `pi05_lora/`: pi0.5 LoRA on LIBERO-Gen goal chains (openpi), steps 5k-50k; evaluated: 10000, 20000, 49999. | |
| - `baselines/`: RoboSSM (20,596 steps) and UniSkill (epoch 500) retrained on LIBERO-Gen Chain. | |
| - `earlier_lines/`: models from earlier project lines (subgoal/goal image, demo generators, keyframe, pose, trajectory, anchor, phase, boundary reader). | |