---
license: mit
tags:
- world-model
- planning
- flow-matching
- robotics
- leworldmodel
---

# Latent Path Flow Planner Checkpoints

Main H=5 latent-path flow planner checkpoints trained on top of frozen LeWorldModel
backbones.

These checkpoints contain:

- latent planner state dict
- inverse dynamics state dict
- planner architecture metadata
- reference path/name for the frozen LeWM checkpoint

They do not serialize the full frozen LeWM object.

## Files

| Benchmark | Checkpoint |
|---|---|
| TwoRoom | `tworoom/latent_planner.pt` |
| PushT | `pusht/latent_planner.pt` |
| Reacher | `reacher/latent_planner.pt` |
| OGBench Cube | `cube/latent_planner.pt` |

## Expected Code

Use with the corresponding code release from the `le-wm` repository containing
`latent_planner.py`, `train_latent_planner.py`, and
`config/eval/solver/latent_flow.yaml`.

Example:

```bash
python eval.py --config-name=pusht.yaml \
  solver=latent_flow \
  policy=<downloaded-or-hub-checkpoint> \
  plan_config.horizon=5
```