Data for Arnold: A multi-task, multi-embodiment muscle transformer policy

Supplementary Data — Trained Model Checkpoints and Benchmark Results
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This archive set accompanies an anonymous manuscript submission. It contains
the final trained model weights and the corresponding benchmark evaluation
results for every model reported in the paper.

Contents
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1. arnold-final-checkpoints.tar.gz
     Trained model weights. Unpacks to:  final_checkpoints/
     ~2.8 GB. One subdirectory per model (see "Models" below), each
     containing per-seed subdirectories (seed_0, seed_1, ...).

     A typical seed directory contains:
       - rl_model_<steps>_steps.zip          Stable-Baselines3 policy checkpoint
       - rl_model_vecnormalize_<steps>_steps.pkl   VecNormalize statistics
       - model_config.json / args.json       training + model configuration
       - <Task>_config.json                  per-task environment configs
       - vocabulary.json                     sensorimotor vocabulary (where used)
       - main_bc_ppo_multi_task.py           training entry point (snapshot)
       - PPO_0/                              training logs / tensorboard events

2. arnold-benchmark-results.tar.gz
     Benchmark evaluation results. Unpacks to:  benchmarks/final_checkpoints/
     ~4 MB. Same model/seed layout as above; each seed directory holds:
       - seed_<n>_<checkpoint>_results.json  per-task benchmark scores
       - *.log                               evaluation run logs