metadata
license: mit
library_name: pytorch
tags:
- robotics
- navigation
- world-model
- diffusion-policy
- nymeria
Lifting Embodied World Models for Planning and Control — checkpoints
Pretrained checkpoints for Lifting Embodied World Models for Planning and Control.
- Code: https://github.com/alexnwang/lifted-world-model
- Paper: https://arxiv.org/abs/2604.26182
- This repo also contains a checkpoint for PEVA.
Contents
| Path | What it is |
|---|---|
waypoint_policy/ema_9.pth |
Diffusion waypoint policy weights (Nymeria, goal_type: draw). The architecture is read from the in-repo config/waypoint_policy.yaml. |
peva/nymeria_peva.pth.tar |
PEVA video world model (Nymeria) used by the CEM planner. |
Usage
See the repo README for full setup. In brief:
python plan_cem.py \
--model_dir <DOWNLOAD>/waypoint_policy \
--peva_checkpoint <DOWNLOAD>/peva/nymeria_peva.pth.tar \
--data_folder <NYMERIA_DATA_ROOT>