Add verified full-suite LoopWAM v0 2/2 training checkpoint

README.md

@@ -9,7 +9,7 @@ tags:
 
 # LoopWAM final checkpoints
 
-Final trained policy weights from the LoopWAM experiments. This repository contains **15 checkpoints**, separated by training data scope. Both original and repeated 4/4 runs are retained. All production checkpoints are from completed ten-epoch runs with global batch 128 and training seed 42.
+Final trained policy weights from the LoopWAM experiments. This repository contains **16 checkpoints**, separated by training data scope. Both original and repeated 4/4 runs are retained. All production checkpoints are from completed ten-epoch runs with global batch 128 and training seed 42.
 
 ## October 9 additions: all-loop KV
 
@@ -48,6 +48,14 @@ Normalization, training metadata, fairness checks and export hashes are included
 
 The policy completed ten epochs on the four-suite full dataset with global batch 128. Evaluation results are not available for this checkpoint.
 
+## October 10 addition: full-suite 2/2
+
+| Directory | Model | Video/action loops | Parameters | Evaluation |
+|---|---|---:|---:|---|
+| [libero-all-suites/v0-video2-action2](libero-all-suites/v0-video2-action2) | v0 | 2/2 | 584,536,135 | Training only; evaluation not run |
+
+The checkpoint completed ten epochs on the four-suite full dataset with global batch 128. Evaluation has not been run.
+
 ## Checkpoint index
 
 | Directory | Model | Video/action loops | Parameters | Final evaluation |

checkpoint_index.json

@@ -399,7 +399,40 @@
       "normalization_sha256": "d5ad351eb3272f416d34082e8af5483ba1118ceca355a37d9f268fdb269fb3e4",
       "fairness_check_passed": true,
       "created_utc": "2026-10-10T11:52:21.118949+00:00"
+    },
+    {
+      "id": "v0_full_2_2_recovery_job4824",
+      "repo_path": "libero-all-suites/v0-video2-action2",
+      "source_sha256": "a68000bf77d91b5c1f00bf2aae25b70a824bbe9601b8fb923a6a9d3681b04493",
+      "source_bytes": 7015569623,
+      "export_sha256": "5dd6ef39b7afb44a672750cebea57358eee43c7e998517e16f2c4f457c843600",
+      "export_bytes": 2338635000,
+      "format": "loopwam-s-v1",
+      "optimizer_included": false,
+      "step": 21700,
+      "version": "v0",
+      "video_loops": 2,
+      "action_loops": 2,
+      "action_kv_mode": "aligned",
+      "parameters": 584536135,
+      "dataset_scope": "full_libero",
+      "epochs": 10,
+      "global_batch": 128,
+      "training_seed": 42,
+      "evaluation_status": "not_run_training_only",
+      "success_rate": null,
+      "successes": null,
+      "episodes": 0,
+      "training_seconds": 37918.89883502503,
+      "initialization_mode": "resume_checkpoint",
+      "resumed_from_step": 4340,
+      "resume_checkpoint_sha256": "4e8a9e4175a095a5b682880e4d40892fc6fa971165681b7a5f5b02dbbe4372ae",
+      "tensor_equality_verified": true,
+      "source_revision": "3a89bfac5cfccad66bfebbe00014f7f739a78adc",
+      "normalization_sha256": "d5ad351eb3272f416d34082e8af5483ba1118ceca355a37d9f268fdb269fb3e4",
+      "fairness_check_passed": true,
+      "created_utc": "2026-10-10T14:40:41.813293+00:00"
     }
   ],
-  "updated_utc": "2026-10-10T11:52:21.130095+00:00"
+  "updated_utc": "2026-10-10T14:40:42.538899+00:00"
 }

libero-all-suites/v0-video2-action2/README.md

@@ -0,0 +1,7 @@
+# LoopWAM v0 2/2 — full LIBERO
+
+Completed ten-epoch full-suite training checkpoint (Spatial, Object, Goal and LIBERO-10), seed 42, global batch 128, DDP on two H100 GPUs. This checkpoint has not been evaluated after training.
+
+`policy.pt` is the native LoopWAM checkpoint with optimizer state removed. Its model tensors were checked for exact equality with the completed training checkpoint. It supports inference or fresh-optimizer fine-tuning, but not exact optimizer-state resume. Keep the accompanying `dataset_stats.json` matched to this checkpoint.
+
+Training resumed from update 4,340 with saved optimizer and RNG state and completed at update 21,700. The training manifest, timing, data provenance, fairness checks and source/export hashes are included. See `export.json`.

libero-all-suites/v0-video2-action2/dataset_stats.json

@@ -0,0 +1,50 @@
+{
+  "action": {
+    "default": {
+      "global_max": [
+        0.9375,
+        0.9375,
+        0.9375,
+        0.3557142913341522,
+        0.375,
+        0.375,
+        1.0
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+      "global_min": [
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+        -0.9375,
+        -0.9375,
+        -0.24214285612106323,
+        -0.375,
+        -0.3642857074737549,
+        0.0
+      ]
+    }
+  },
+  "num_episodes": 1712,
+  "num_transition": 277713,
+  "state": {
+    "default": {
+      "global_max": [
+        0.2103137969970703,
+        0.3904264271259308,
+        1.472778081893921,
+        3.7248642444610596,
+        3.5618896484375,
+        1.3863215446472168,
+        0.04232141748070717,
+        0.0013126095291227102
+      ],
+      "global_min": [
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+        -0.3309336006641388,
+        0.008128181099891663,
+        1.002794623374939,
+        -3.6312508583068848,
+        -1.842738389968872,
+        -0.005453015677630901,
+        -0.042015016078948975
+      ]
+    }
+  }
+}

libero-all-suites/v0-video2-action2/export.json

@@ -0,0 +1,33 @@
+{
+  "id": "v0_full_2_2_recovery_job4824",
+  "repo_path": "libero-all-suites/v0-video2-action2",
+  "source_sha256": "a68000bf77d91b5c1f00bf2aae25b70a824bbe9601b8fb923a6a9d3681b04493",
+  "source_bytes": 7015569623,
+  "export_sha256": "5dd6ef39b7afb44a672750cebea57358eee43c7e998517e16f2c4f457c843600",
+  "export_bytes": 2338635000,
+  "format": "loopwam-s-v1",
+  "optimizer_included": false,
+  "step": 21700,
+  "version": "v0",
+  "video_loops": 2,
+  "action_loops": 2,
+  "action_kv_mode": "aligned",
+  "parameters": 584536135,
+  "dataset_scope": "full_libero",
+  "epochs": 10,
+  "global_batch": 128,
+  "training_seed": 42,
+  "evaluation_status": "not_run_training_only",
+  "success_rate": null,
+  "successes": null,
+  "episodes": 0,
+  "training_seconds": 37918.89883502503,
+  "initialization_mode": "resume_checkpoint",
+  "resumed_from_step": 4340,
+  "resume_checkpoint_sha256": "4e8a9e4175a095a5b682880e4d40892fc6fa971165681b7a5f5b02dbbe4372ae",
+  "tensor_equality_verified": true,
+  "source_revision": "3a89bfac5cfccad66bfebbe00014f7f739a78adc",
+  "normalization_sha256": "d5ad351eb3272f416d34082e8af5483ba1118ceca355a37d9f268fdb269fb3e4",
+  "fairness_check_passed": true,
+  "created_utc": "2026-10-10T14:40:41.813293+00:00"
+}

libero-all-suites/v0-video2-action2/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd6ef39b7afb44a672750cebea57358eee43c7e998517e16f2c4f457c843600
+size 2338635000

libero-all-suites/v0-video2-action2/training_timing.json

@@ -0,0 +1,49 @@
+{
+  "status": "complete",
+  "completed_updates": 21700,
+  "windows_seen": 2777130,
+  "planned_updates": 21700,
+  "elapsed_training_seconds": 37918.89883502503,
+  "checkpoint_seconds_total": 73.71588608506136,
+  "checkpoint_count": 8,
+  "measured_mean_update_seconds": 2.1760343434150142,
+  "estimated_total_training_hours": 13.11665145891828,
+  "estimate_note": "Projection from measured updates; excludes setup/checkpoint overhead",
+  "latest": {
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+    "epoch": 10,
+    "windows": 81,
+    "windows_seen": 2777130,
+    "effective_passes": 10.0,
+    "seconds": 2.1505775451660156,
+    "lr": 1.0000000000000002e-06,
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+    "branch_grad_after_clip": {
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+      "action": 0.10207334160804749,
+      "proprio": 0.015496520325541496
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+    "latent_cache_rank_local": {
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+      "batches": 69432,
+      "read_seconds": 1944.2269684574567,
+      "encode_seconds": 0.0,
+      "write_seconds": 0.0
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+    "peak_allocated_gb": 68.81487274169922,
+    "peak_reserved_gb": 72.89490509033203,
+    "exit2/video_raw": 0.0545496881744008,
+    "exit2/action_raw": 0.049302006945197964,
+    "exit2/video": 0.06007812052597234,
+    "exit2/action": 0.023048068270271206,
+    "loss_video": 0.06007812052597234,
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+    "loop/1/video_state_rms": 1.371673866554543,
+    "loop/1/action_state_rms": 0.8940891218774113,
+    "loop/2/video_state_rms": 1.278758673020351,
+    "loop/2/action_state_rms": 0.9621150640793789
+  }
+}