AR-GO checkpoints

This repository contains the 2026-07-29 reproducibility snapshot for AR-GO.

Verified packages

Path	Initialization	LIBERO evidence
spatial-ar-go-93/	generic VLM → clean-start Pro 10k → bounded AR-GO	Spatial 93/100
spatial-cleanstart-base-10k/	generic VLM	exact AR-GO training base
future-prior-stage1/	Qwen3-VL clean-start Stage 1	frozen future prior
object-cleanstart-20k-100/	generic VLM	Object 100/100
spatial-cleanstart-150k-91/	generic VLM	Spatial 91/100

No task-finetuned public VLA-Adapter checkpoint initializes the released AR-GO model. See the GitHub run contract and raw JSON/JSONL evidence for the complete provenance and claim boundary.

Download

hf download Jaqen0-0/AR-GO \
  --local-dir ./AR-GO-checkpoints

Integrity

Per-file SHA-256 manifests are mirrored in the GitHub repository under weights/manifests/. The future-prior Stage-1 file must hash to:

8238e44578d5d9c6d609cd82e6f220c315e065d498b4407a4ab6e8d27ce88b92

Important

The 93/100 value is a completed strict LIBERO-Spatial evaluation. It is not a claim that all paper tables are reproduced. The clean-start object and spatial checkpoints are released as strong controls and reproducible policy bases.

Foundation models, datasets, and simulator assets are not redistributed here and retain their upstream licenses.