---
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>
```