pusht_cot_chunk_k3_world_model

pusht_cot_chunk_k3_world_model

BAGEL-7B-MoT world-model SFT checkpoint (EMA weights only, raw fp32).

• task: pusht variant: cot step: 5000
• All-step interleaved chain-of-thought world model; re-grounds on the true frame every K=3 steps. Keep-last interleaving recipe used by the final evaluation.
• weights: fp32 EMA, sharded into 2 safetensors files (ema-XXXXX-of-00002.safetensors) plus ema.safetensors.index.json (fp32 exceeds the 50GB single-file limit). Optimizer state NOT included — for inference / eval, not resume.

Load

This is an SFT delta on the public BAGEL-7B-MoT base. Load the base config / tokenizer / VAE / ViT from BAGEL-7B-MoT together with these EMA weights; point the loader at the repo folder (or its ema.safetensors.index.json) and it assembles the shards, e.g. with the eval runners: --bagel-path <this repo> --bagel-base-path <BAGEL-7B-MoT>.

Image transforms (pusht): VAE 256/256, ViT 224/224, JPEG q90, 96px render (norm4 action space). Prompt is stop-required; CoT is all-step interleaved.