Curiosity-Tactile trained artifacts
User-authorized public release of existing trained models, 2026-10-17. No training or evaluation was rerun for this upload.
The main paper-box long-sequence comparison is official native A0 without zero padding: 72.505187988% versus A2 no-SDF: 77.557373047%, averaged over all 16 mass/friction conditions (4096 worlds each). Historical padded A0 is 70.245361328%, a different baseline. Full-SDF historical models are archives only; all future tactile execution remains no-SDF.
The release plan covers the final policy, matching estimator when present, and final training state for every completed run. Publication is ongoing; only files actually present are available. Intermediate checkpoints are being split between two public archive repositories; manifest.json gives the exact destination for every file. Check upload-status.json before assuming the complete archive is available.
Preserve paths relative to the project root. A2 needs BOTH policy_500006912.safetensors and policy_500006912.estimator.pt plus the official frozen Utonia backbone from https://huggingface.co/Pointcept/Utonia . The estimator is not the backbone. state_*.safetensors is learner state, not a guarantee of exact resumability without replay/simulator state.
The original checkpoint embeds absolute reference paths under /public/home/yanhongru/Curiosity-Tactile. This release does not silently rewrite model metadata. The matching source, explicit path handling, official robot/object/reference assets and CUDA environment are also required. Checkpoints alone are not an end-to-end reproduction package. Standard raw wrist-error traces were not retained for all worlds; stored aggregate CHORD success is not independently rescored by this release.
Model families include paper-box ablations, multiscene and robustness studies, functional/knife studies and historical object-centric controls. Different references/tasks must not be mixed as a common following benchmark. Historical failed or cancelled runs and current incomplete following are excluded.
Source project: https://github.com/yanhr21/Curiosity/tree/tactile-flash-chord . The working README and reproduction audit are included in documentation/; the GitHub branch may predate this local documentation update. Official code/data retain their original licensing requirements. This model card does not grant new rights to external datasets or pretrained assets.
The primary three inference artifacts have been downloaded anonymously and validated on CPU: native A0 observation dimension 504, no-SDF A2 dimension 552, action dimension 56, all 32 policy tensors finite for each, and matching A2 estimator metadata. A distinct-root deployment copy was also read successfully. This does not establish fresh-machine GPU inference or independent training reproduction.
Download the audited source snapshot and original paper-box asset bundle into a fresh project checkout, then follow the maintained reproduction README. The source snapshot represents the audit-time workspace, not an immutable per-training-run snapshot. Official frozen Utonia weights are obtained separately from their official repository. Full original evaluation trajectories are not part of this weight release.