Checkpoints for the LIBERO-Goal policy-learning result in "Is Forward Prediction Enough? Physical State Grounding for JEPA World Models" (arXiv:2608.06799).

Code, evaluation logs and the download helper are in Haodong-Yan/PSG-JEPA under libero/.

Training seed 3072. Closed-loop evaluation of the head over 10 LIBERO-Goal tasks x 50 rollouts (eval seed 4242, max_steps 600, action horizon 8) gives 90.8% mean success.

The baselines are reproduced by running the pipeline in the code repository; their evaluation logs ship there under libero/results/.

libero/weights/manifest.json records the sha256 and size of each file.