4D World Models for Robotic Manipulation -- checkpoints
Checkpoints for the LIBERO-Spatial results of the accompanying code repository.
| File | Model | Parameters |
|---|---|---|
world_model/best.pt |
4D particle-flow world model (EMA weights) | 35.1 M |
policy_libero_spatial/best_action_policy_ema.pt |
flow- and physics-conditioned diffusion policy (EMA weights) | 156.2 M |
policy_libero_spatial/interface.json |
policy conditioning interface (read by the evaluator) | -- |
LIBERO-Spatial closed loop: 47 / 50 successes (94 %), 10 tasks x the first 5 official initial states.
hf download LIN-linlin/4D-World-Models-Robotic-Manipulation --local-dir checkpoints