Publish the 16-model PushT comparison collection

.gitattributes

@@ -39,3 +39,53 @@ models/ppo1-aim500/0/default/ocdbt.process_0/d/0e705ab1649291dcd4833d7c54c84c68
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README.md

@@ -35,7 +35,7 @@ behavior; they are not an aggregate benchmark or a ranking of models.
 
 ## Models at a glance
 
-**1 checkpoint · 256 × 256 RGB · approximately 580 MB each · 0.58 GB total**
+**16 checkpoints · 256 × 256 RGB · approximately 580 MB each · 9.28 GB total**
 
 - **Inputs:** RGB observations and continuous 6D end-effector delta actions.
 - **Outputs:** predicted RGB frames at 256 × 256 resolution.
@@ -52,6 +52,21 @@ collection iterations, with a 2:1 PPO-to-AIM sampling mixture.
 | Model | Training step | Download |
 | --- | ---: | ---: |
 | [PPO1 + AIM500](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-aim500) | 36,000 | 580.1 MB |
+| [PPO1](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1) | 26,000 | 580.0 MB |
+| [PPO1 + AIM500 (fixed reward estimate)](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-aim500-fixed-reward-estimate) | 42,000 | 580.0 MB |
+| [PPO1 + AIM500 (MI only)](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-aim500-mi-only) | 39,000 | 580.0 MB |
+| [PPO1 + AIM500 (novelty only)](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-aim500-novelty-only) | 42,000 | 580.1 MB |
+| [PPO1 + DADS500](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-dads500) | 29,000 | 580.0 MB |
+| [PPO1 + DIAYN500](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-diayn500) | 34,000 | 580.1 MB |
+| [PPO1 + ICM500](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-icm500) | 29,000 | 579.9 MB |
+| [PPO1 + METRA500](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-metra500) | 26,000 | 580.0 MB |
+| [PPO1 + random walk500](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-random-walk500) | 28,000 | 580.0 MB |
+| [PPO1 + Recovery500](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-recovery500) | 27,000 | 580.1 MB |
+| [PPO1 + uniform random500](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo1-uniform-random500) | 33,000 | 580.0 MB |
+| [PPO100](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/ppo100) | 44,000 | 580.1 MB |
+| [Recovery1](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/recovery1) | 37,000 | 580.0 MB |
+| [Recovery1 + transferred AIM500](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/recovery1-transferred-aim500) | 42,000 | 580.1 MB |
+| [Recovery100](https://huggingface.co/smbml/future-sight-pusht-models/tree/main/models/recovery100) | 40,000 | 580.1 MB |
 
 The **fixed reward estimate** ablation uses AIM data without reward
 re-estimation. Novelty-only and MI-only models ablate the reward components.
@@ -126,7 +141,7 @@ a license to the separately trained Future Sight weights.
 
 ## Validation and limitations
 
-All 16 source checkpoints passed strict restoration and finite-output checks on two selected evaluation cases each. They also ran in the local interactive model switcher. Published model files are listed above.
+All 16 source checkpoints passed strict restoration and finite-output checks on two selected evaluation cases each. They also ran in the local interactive model switcher. Published model files are listed above. The PPO1 + AIM500 bundle additionally passed an authenticated Hugging Face upload/download round trip, file-hash verification, offline cache reuse, and exact raw-frame agreement with its local source on BC and PushAway when independently restored states use the same compiled inference graph. Separately compiled GPU runs were not pixel-identical; this check does not establish bitwise reproducibility across runs. Other models have local inference checks and remote file verification, not separate HF round-trip inference runs.
 
 The local checks used JAX/JAXLIB 0.10.2, Flax 0.12.7 and Orbax 0.12.1 on an
 NVIDIA RTX PRO 6000 Blackwell GPU. They do not establish compatibility with every

models.json

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