| --- |
| license: mit |
| tags: |
| - robotics |
| - world-model |
| - jepa |
| - imitation-learning |
| - goal-conditioned-control |
| - arxiv:2607.26056 |
| --- |
| |
| # INTACT Checkpoints |
|
|
| Official checkpoints for **INTACT: Isomorphic Intent-to-Action Learning for |
| Search-Free World Models**. |
|
|
| [Paper](https://arxiv.org/abs/2607.26056) · |
| [Code](https://github.com/zju3dv/INTACT-JEPA) · |
| [Project page](https://zju3dv.github.io/INTACT-JEPA/) |
|
|
| ## Audited results |
|
|
| | Setting | Inference | PushT | Cube | Reacher | TwoRoom | Macro SR | |
| |---|---|---:|---:|---:|---:|---:| |
| | **Task-specific E1 INTACT** | **Direct, zero search** | 87.44 +/- 1.26 | 100.00 +/- 0.00 | 97.33 +/- 0.00 | 97.67 +/- 1.20 | **95.61 +/- 0.59** | |
| | **Task-specific E1 INTACT** | **Guarded A 128x3** | 91.56 +/- 0.69 | 99.67 +/- 0.33 | 97.56 +/- 0.51 | 97.56 +/- 1.26 | **96.58 +/- 0.44** | |
| | **Shared-encoder E5 INTACT** | **Direct, zero search** | 86.11 +/- 0.96 | 100.00 +/- 0.00 | 97.22 +/- 0.84 | 81.56 +/- 3.67 | **91.22 +/- 0.51** | |
| | [History-free E1 ablation](https://huggingface.co/INTACT-JEPA/INTACT/tree/main/INTACT-no-previous-action) | Direct, zero search | 85.33 +/- 0.58 | 99.44 +/- 0.38 | 93.44 +/- 0.38 | 98.78 +/- 0.69 | **94.25 +/- 0.08** | |
|
|
| All values use the corrected Official evaluation implementation. Standard |
| INTACT uses strictly causal pre-`t` action history at a declared continuation |
| point and appends every policy-executed action exactly once. The history-free |
| ablation removes the previous-action channel from both training and evaluation. |
| Guarded A is an optional local verifier around the Direct plan; it evaluates |
| 384 sampled candidates rather than the 9,000 used by CEM 300x30. |
| Machine-readable headline values are frozen in |
| [`INTACT/AUDITED_RESULTS_20260914.json`](INTACT/AUDITED_RESULTS_20260914.json) |
| and |
| [`INTACT-unified/AUDITED_RESULTS_20260914.json`](INTACT-unified/AUDITED_RESULTS_20260914.json). |
| Model manifests retain archive identities and hashes; use the audited result |
| files for project-level reporting. |
|
|
| ## Download |
|
|
| ```bash |
| # Standard INTACT: three training seeds, four task shards per archive. |
| hf download INTACT-JEPA/INTACT --include "INTACT/*" --local-dir checkpoints-release |
| |
| # History-free INTACT. |
| hf download INTACT-JEPA/INTACT --include "INTACT-no-previous-action/*" \ |
| --local-dir checkpoints-release |
| |
| # Complete unified E5 comparison matrix. |
| hf download INTACT-JEPA/INTACT --include "INTACT-unified/*" \ |
| --local-dir checkpoints-release |
| ``` |
|
|
| Each directory contains a model-specific README, auditable manifests, and |
| SHA-256 checksums. The unified directory additionally contains the complete |
| shared-encoder comparison matrix. |
|
|
| ## Unified E5 comparison |
|
|
| | Controlled cell | Native interface | Official macro SR | |
| |---|---|---:| |
| | LeWM | CEM 300x30 | 66.17 | |
| | Inverse only | Direct | 68.19 | |
| | Goal intent only | Direct | 84.92 | |
| | **Goal-displacement INTACT** | **Direct** | **91.22** | |
|
|
| All cells use the same E5 shared-encoder protocol. Task-level statistics, |
| checkpoint hashes, and runtime fingerprints are provided |
| inside [`INTACT-unified`](https://huggingface.co/INTACT-JEPA/INTACT/tree/main/INTACT-unified). |
| The immutable original layout also remains available at the frozen |
| [`paper-e5-goal-v1`](https://huggingface.co/INTACT-JEPA/INTACT/tree/paper-e5-goal-v1) |
| tag. The original E1 root layout is preserved at |
| [`intact-goal-e1-single-p77-v1`](https://huggingface.co/INTACT-JEPA/INTACT/tree/intact-goal-e1-single-p77-v1). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @article{sun2026intact, |
| title = {INTACT: Isomorphic Intent-to-Action Learning for Search-Free World Models}, |
| author = {Sun, Junhan and Zhao, Hao and Zhang, Guofeng}, |
| journal = {arXiv preprint arXiv:2607.26056}, |
| year = {2026} |
| } |
| ``` |
|
|
