Release checkpoints + model card

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README.md

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+---
+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>
+```

peva/nymeria_peva.pth.tar

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waypoint_policy/ema_9.pth

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