INTACT Checkpoints

Official checkpoints for INTACT: Isomorphic Intent-to-Action Learning for Search-Free World Models.

Paper · Code · Project page

Audited results

Setting	Inference	PushT	Cube	Reacher	TwoRoom	Macro SR
Task-specific E1 INTACT	Direct, zero search	87.44 +/- 1.26	100.00 +/- 0.00	97.33 +/- 0.00	97.67 +/- 1.20	95.61 +/- 0.59
Task-specific E1 INTACT	Guarded A 128x3	91.56 +/- 0.69	99.67 +/- 0.33	97.56 +/- 0.51	97.56 +/- 1.26	96.58 +/- 0.44
Shared-encoder E5 INTACT	Direct, zero search	86.11 +/- 0.96	100.00 +/- 0.00	97.22 +/- 0.84	81.56 +/- 3.67	91.22 +/- 0.51
History-free E1 ablation	Direct, zero search	85.33 +/- 0.58	99.44 +/- 0.38	93.44 +/- 0.38	98.78 +/- 0.69	94.25 +/- 0.08

All values use the corrected Official evaluation implementation. Standard INTACT uses strictly causal pre-t action history at a declared continuation point and appends every policy-executed action exactly once. The history-free ablation removes the previous-action channel from both training and evaluation. Guarded A is an optional local verifier around the Direct plan; it evaluates 384 sampled candidates rather than the 9,000 used by CEM 300x30. Machine-readable headline values are frozen in INTACT/AUDITED_RESULTS_20260914.json and INTACT-unified/AUDITED_RESULTS_20260914.json. Model manifests retain archive identities and hashes; use the audited result files for project-level reporting.

Download

# Standard INTACT: three training seeds, four task shards per archive.
hf download INTACT-JEPA/INTACT --include "INTACT/*" --local-dir checkpoints-release

# History-free INTACT.
hf download INTACT-JEPA/INTACT --include "INTACT-no-previous-action/*" \
  --local-dir checkpoints-release

# Complete unified E5 comparison matrix.
hf download INTACT-JEPA/INTACT --include "INTACT-unified/*" \
  --local-dir checkpoints-release

Each directory contains a model-specific README, auditable manifests, and SHA-256 checksums. The unified directory additionally contains the complete shared-encoder comparison matrix.

Unified E5 comparison

Controlled cell	Native interface	Official macro SR
LeWM	CEM 300x30	66.17
Inverse only	Direct	68.19
Goal intent only	Direct	84.92
Goal-displacement INTACT	Direct	91.22

All cells use the same E5 shared-encoder protocol. Task-level statistics, checkpoint hashes, and runtime fingerprints are provided inside INTACT-unified. The immutable original layout also remains available at the frozen paper-e5-goal-v1 tag. The original E1 root layout is preserved at intact-goal-e1-single-p77-v1.

Citation

@article{sun2026intact,
  title   = {INTACT: Isomorphic Intent-to-Action Learning for Search-Free World Models},
  author  = {Sun, Junhan and Zhao, Hao and Zhang, Guofeng},
  journal = {arXiv preprint arXiv:2607.26056},
  year    = {2026}
}