| --- |
| pretty_name: RIFT Checkpoints |
| license: other |
| license_name: model-specific-licenses |
| license_link: https://huggingface.co/PoopBear/RIFT/blob/main/README.md#license |
| library_name: pytorch |
| base_model: |
| - Wan-AI/Wan2.2-TI2V-5B |
| - nvidia/Cosmos-Predict2-2B-Video2World |
| datasets: |
| - yuanty/LIBERO-fastwam |
| - nvidia/LIBERO-Cosmos-Policy |
| tags: |
| - robotics |
| - robot-learning |
| - world-action-model |
| - flow-matching |
| - libero |
| - robocoin |
| - galaxea |
| - arxiv:2608.11521 |
| --- |
| |
| # RIFT Checkpoints |
|
|
| Checkpoints for **[Keep the Future, Drop the Rollout: RIFT for World Action Models](https://arxiv.org/abs/2608.11521)**. |
| [Code and evaluation](https://github.com/ChushanZhang/RIFT). |
|
|
| ## Checkpoints |
|
|
| Each dataset has one top-level directory. Model variants live inside that directory. |
|
|
| | Dataset | Directory | Models | |
| | --- | --- | --- | |
| | LIBERO | [libero](https://huggingface.co/PoopBear/RIFT/tree/main/libero) | FastWAM; RIFT, FastWAM-IDM and FastWAM-Joint (step 21,700); Cosmos Policy Predict2-2B | |
| | RoboCOIN, three tasks | [robocoin_multitask_mm](https://huggingface.co/PoopBear/RIFT/tree/main/robocoin_multitask_mm) | RIFT (final), 10 epochs / step 9,340 | |
| | Galaxea indoor cleaning | [galaxea_indoor_cleaning_3cam224](https://huggingface.co/PoopBear/RIFT/tree/main/galaxea_indoor_cleaning_3cam224) | FastWAM, FastWAM-Joint and RIFT, 10 epochs / step 14,830 | |
|
|
| Shared Wan VAE, text-encoder, and tokenizer files are under `assets/`. Exact checkpoint paths, |
| hashes, and source revisions are listed in [checkpoint_manifest.json](checkpoint_manifest.json). |
| Use each model's own normalization statistics. |
|
|
| ## Download |
|
|
| LIBERO Cosmos-2: |
|
|
| ```bash |
| hf download PoopBear/RIFT --include 'libero/cosmos-2/*' --local-dir ./checkpoints |
| ``` |
|
|
| LIBERO FastWAM: |
|
|
| ```bash |
| hf download PoopBear/RIFT --include 'libero/fastwam/*' --local-dir ./checkpoints |
| ``` |
|
|
| LIBERO RIFT: |
|
|
| ```bash |
| hf download PoopBear/RIFT --include 'libero/rift/*' --local-dir ./checkpoints |
| ``` |
|
|
| RoboCOIN RIFT: |
|
|
| ```bash |
| hf download PoopBear/RIFT --include 'robocoin_multitask_mm/rift_10ep/*' --local-dir ./checkpoints |
| ``` |
|
|
| Galaxea RIFT: |
|
|
| ```bash |
| hf download PoopBear/RIFT --include 'galaxea_indoor_cleaning_3cam224/rift_10ep/*' --local-dir ./checkpoints |
| ``` |
|
|
| The real-world model folders include saved training configurations. LIBERO model |
| configs must be composed with the corresponding task and data configs. Set local |
| dataset and pretrained asset paths for your installation. Load PyTorch checkpoints |
| with `weights_only=True`. |
|
|
| ## Citation |
|
|
| ```bibtex |
| @article{zhang2026rift, |
| title={Keep the Future, Drop the Rollout: RIFT for World Action Models}, |
| author={Zhang, Chushan and Tong, Jinguang and Li, Xuesong and Wang, Yikai and Li, Hongdong}, |
| journal={arXiv preprint arXiv:2608.11521}, |
| year={2026} |
| } |
| ``` |
|
|
| ## License |
|
|
| RIFT checkpoints are distributed under the Apache License 2.0 (see `LICENSE`). RIFT source code is distributed separately under the MIT License. See `NOTICE` for attribution. |
|
|
| The third-party Cosmos Policy files in `libero/cosmos-2/` retain their original NVIDIA One-Way Noncommercial License (NSCLv1). See [the included license](libero/cosmos-2/LICENSE) and [original model card](libero/cosmos-2/UPSTREAM_README.md). |
|
|
