---
license: mit
tags:
  - worldkit
  - world-model
  - jepa
  - robotics
  - push-t
  - planning
library_name: worldkit
pipeline_tag: reinforcement-learning
---

# WorldKit / pusht-base

A **base** world model trained on the Push-T task using [WorldKit](https://github.com/DilpreetBansi/worldkit).

## Model Details

| Property | Value |
|----------|-------|
| Architecture | JEPA (Joint-Embedding Predictive Architecture) |
| Config | `base` |
| Parameters | 13M |
| Latent Dim | 192 |
| Image Size | 96x96 |
| Action Dim | 2 (dx, dy) |
| File Size | 50.2 MB |
| Training Time | 2 minutes (Apple M4 Pro, MPS) |
| Best Val Loss | 0.3500 |

## Usage

```bash
pip install worldkit
```

```python
from worldkit import WorldModel

# Load this model
model = WorldModel.from_hub("DilpreetBansi/pusht-base")

# Encode an observation
z = model.encode(observation)  # -> (192,) latent vector

# Predict future states
result = model.predict(current_frame, actions)

# Plan to reach a goal
plan = model.plan(current_frame, goal_frame, max_steps=50)

# Score physical plausibility
score = model.plausibility(video_frames)
```

## Task: Push-T

The Push-T task is a 2D manipulation environment where an agent (blue circle) pushes a T-shaped block (red) toward a target position. Observations are 96x96 RGB images and actions are 2D continuous (dx, dy).

## Training

Trained using WorldKit's built-in training pipeline:

```python
from worldkit import WorldModel

model = WorldModel.train(
    data="pusht_train.h5",
    config="base",
    epochs=50,
    batch_size=32,
    lr=3e-4,
    lambda_reg=0.5,
    action_dim=2,
)
```

## Architecture

Based on the LeWorldModel paper (Maes et al., 2026):
- **Encoder**: Vision Transformer (ViT) with CLS token pooling
- **Predictor**: Transformer with AdaLN-Zero conditioning on actions
- **Loss**: L_pred + lambda * SIGReg(Z)
- **Planner**: Cross-Entropy Method (CEM) in latent space

## Citation

If you use this model, please cite WorldKit and the LeWorldModel paper:

```bibtex
@software{worldkit,
  title = {WorldKit: The Open-Source World Model Runtime},
  author = {Bansi, Dilpreet},
  year = {2026},
  url = {https://github.com/DilpreetBansi/worldkit}
}
```

## License

MIT License. See [WorldKit LICENSE](https://github.com/DilpreetBansi/worldkit/blob/main/LICENSE).

---

Built with [WorldKit](https://github.com/DilpreetBansi/worldkit) by [Dilpreet Bansi](https://github.com/DilpreetBansi).