| 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](https://www.alexn.wang/lwm/)**. | |
| - **Code:** https://github.com/alexnwang/lifted-world-model | |
| - **Paper:** https://arxiv.org/abs/2604.26182 | |
| - This repo also contains a checkpoint for [PEVA](https://dannytran123.github.io/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](https://github.com/alexnwang/lifted-world-model) for full setup. In brief: | |
| ```bash | |
| python plan_cem.py \ | |
| --model_dir <DOWNLOAD>/waypoint_policy \ | |
| --peva_checkpoint <DOWNLOAD>/peva/nymeria_peva.pth.tar \ | |
| --data_folder <NYMERIA_DATA_ROOT> | |
| ``` | |