| # Final weights | |
| Only the final models and their required pretrained backbone are retained: | |
| - `navsim_final.ckpt`: SafetyFinal epoch 1, shared by NAVSIM v1 and v2. | |
| - `bench2drive_4cam_score11.ckpt`: final four-camera epoch 11. | |
| - `vjepa2_1_vitl.pt`: required V-JEPA 2.1 pretrained backbone. | |
| All three are regular files. Other checkpoints and external training references were moved to the sibling `leap-auto-wam-backup` folder. They are not required for inference. Training Stage 2 requires explicitly supplying a Stage 1 checkpoint via `CHECKPOINT_PATH`. | |
| See `manifest.json` for sizes and `final_sha256.json` for hashes. Hard-linked archived copies share content; never overwrite a retained checkpoint in place. | |