| { |
| "schema_version": 1, |
| "kind": "sa_wm_pretrained_model_release", |
| "model_id": "sa_wm_pretrained_v1", |
| "status": "selected_for_release_and_post_training", |
| "selected_at": "2026-07-25", |
| "selected_checkpoint": { |
| "training_stage": "sa_wm_pretrain_v6_512x768", |
| "micro_step": 55000, |
| "path": "/mnt/cfs/wmcprg/RoboCoach/checkpoints/sa_wm_pretrain_v6_512x768/checkpoint-55000", |
| "training_config": "configs/training/sa_wm_pretrain_v6.yaml", |
| "weights": "dit_model.safetensors", |
| "checkpoint_format": "safetensors+optim_shards", |
| "post_training_load_mode": "model_only_init_from" |
| }, |
| "selection_evidence": { |
| "monitoring_selection": "/mnt/cfs/wmcprg/RoboCoach/checkpoints/sa_wm_pretrain_v6_512x768/validation/selection_closed_loop.json", |
| "samples": 30, |
| "rollout_chunks": 4, |
| "future_frames": 1440, |
| "metrics": { |
| "psnr": 21.503524390835977, |
| "ssim": 0.9163767135968223, |
| "lpips_alex": 0.07815770965373506 |
| }, |
| "selection_reason": [ |
| "Human review preferred the motion and physical behavior of checkpoint-55000.", |
| "DROID exterior_1 and exterior_2 PSNR, SSIM, and LPIPS all outperform checkpoint-70000.", |
| "The fourth closed-loop chunk is slightly better than checkpoint-70000 in PSNR and LPIPS.", |
| "The aggregate metric difference from checkpoint-70000 is too small to override the qualitative review." |
| ] |
| }, |
| "historical_comparison": { |
| "checkpoint": "/mnt/cfs/wmcprg/RoboCoach/checkpoints/sa_wm_pretrain_v6_512x768/checkpoint-70000", |
| "micro_step": 70000, |
| "status": "retained_late_training_reference_not_selected", |
| "metrics": { |
| "psnr": 21.552308871443916, |
| "ssim": 0.9175402801300698, |
| "lpips_alex": 0.07684179975799957 |
| } |
| }, |
| "usage_contract": { |
| "inference": "load selected_checkpoint/dit_model.safetensors", |
| "post_training": "initialize model weights from the selected checkpoint and start a new optimizer, scheduler, step counter, output directory, and run id", |
| "exact_v6_resume": "allowed only for reproducing the historical v6 stage; do not use it for domain post-training", |
| "immutability": "never overwrite the selected checkpoint directory" |
| } |
| } |
|
|
