---
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).