pusht_cot_chunk_kinf_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=inf (open-loop, imagine the whole episode) steps. Training used vae_last_only_attn=True (keep-last visual attention).
- 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.
