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  1. README.md +20 -0
  2. pi0_hamlet_object_step_from_step_601.pt +3 -0
  3. pi0_hamlet_spatial_step_from_step_1201.pt +3 -0
  4. pi0_hamlet_spatial_step_from_step_1501.pt +3 -0
  5. pi0_hamlet_spatial_step_from_step_1800.pt +3 -0
  6. pi0_hamlet_spatial_step_from_step_2101.pt +3 -0
  7. pi0_hamlet_spatial_step_from_step_2700.pt +3 -0
  8. pi0_hamlet_spatial_step_from_step_300.pt +3 -0
  9. pi0_hamlet_spatial_step_from_step_601.pt +3 -0
  10. pi0_hamlet_spatial_step_from_step_900.pt +3 -0
  11. pi0_hopfield_goal_t0_round3.pt +3 -0
  12. pi0_hopfield_goal_t0_round5.pt +3 -0
  13. pi0_hopfield_goal_t0_round7.pt +3 -0
  14. pi0_hopfield_goal_t1_round1.pt +3 -0
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  34. pi0_hopfield_long_t0_round1.pt +3 -0
  35. pi0_hopfield_long_t1_round1.pt +3 -0
  36. smolvla_hopfield_goal_t4_grpo_round7.pt +3 -0
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  41. smolvla_hopfield_long_t0_grpo_round8.pt +3 -0
  42. smolvla_hopfield_long_t1_grpo_round8.pt +3 -0
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  48. smolvla_hopfield_long_t7_grpo_round7.pt +3 -0
  49. smolvla_hopfield_long_t8_grpo_round6.pt +3 -0
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README.md ADDED
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+ # Checkpoints: Hopfield vs. HAMLET memory-augmented VLA
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+
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+ Trained checkpoints from the Hopfield-vs-HAMLET memory comparison across two VLA backbones (SmolVLA, pi0), evaluated on four LIBERO suites (Object, Spatial, Goal, Long-horizon).
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+
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+ ## SmolVLA (`smolvla_*.pt`)
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+
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+ - `smolvla_hopfield_{goal,long}_t{N}_grpo_round{R}.pt` — Hopfield-memory arm, per-task RWR checkpoint (plateau-stopped round) for task `t{N}` of the given suite.
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+ - `smolvla_hamlet_{goal,long,object,spatial}_final.pt` — HAMLET-memory arm, BC-trained checkpoint (one shared checkpoint per suite, used for every task/pool at eval time).
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+
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+ ## pi0 (`pi0_*.pt`)
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+
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+ - `pi0_hopfield_{object,spatial,goal,long}_t{N}_round{R}.pt` — Hopfield-memory arm, per-task RWR peak checkpoint.
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+ - `pi0_hamlet_{object,spatial,goal,long}_step_from_step_{N}.pt` — HAMLET-memory arm, BC-phase checkpoint (shared across tasks within a suite).
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+
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+ ## Methodology
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+
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+ - SmolVLA: BC warm-start → reward-weighted regression (RWR), evaluated with paired memory-on/memory-off controls at the plateau-stopped final RWR round.
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+ - pi0: same BC → RWR protocol, backbone frozen, memory module (and where applicable the action expert) trained.
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+
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+ Full results tables and evaluation protocol: see the project README.
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