alexnwang/LiftedWorldModel

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>