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

Supplementary Data — Trained Model Checkpoints and Benchmark Results
====================================================================

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
--------
1. arnold-final-checkpoints.tar.gz.
     Trained model weights. Unpacks to:  <Arnold-root>/data/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:  <Arnold-root>/data/final_benchmarks/
     ~55.5 MB. Same model/seed layout as above; each seed directory holds:
       - seed_<n>_<checkpoint>_results.json  per-task benchmark scores
       - *.log                               evaluation run logs
     Also contains the expert evaluation results.

3. arnold-benchmark-results-extra.tar.gz
    Benchmark evaluation results. Unpacks to:  <Arnold-root>/data/final_benchmarks_extra/
    ~11 MB. Contains files used by plotting or other analysis in the paper.

4. expert-policies.tar.gz
    Expert checkpoints. Unpacks to:  <Arnold-root>/data/expert_policies/
    ~605 MB.

5. analysis.tar.gz
    Files used for EMG, smoothness, PCA and other analysis. Unpacks to <Arnold-root>/data/analysis/
    ~318 MB.

6. kinesis.tar.gz
    Model files and data for the Walk-to-point (Kinesis) task. Unpacks to: <Arnold-root>/data/kinesis/
    ~29 MB.

File description for final_checkpoints and final_benchmarks