GA-WM checkpoints

This repository contains our GA-WM checkpoints accompanying Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning.

Checkpoints

File	Task	Reported checkpoint success rate
gawm_tworoom_object.ckpt	TwoRoom	100%
gawm_reacher_object.ckpt	Reacher	86%
gawm_pusht_object.ckpt	PushT	98%
gawm_cube_object.ckpt	Cube	88%
gawm_cube_bcinit_object.ckpt	Cube, additional standalone BC-init model	96%

These checkpoint-specific results were supplied by the authors for this release. They have not been re-evaluated during upload. The paper abstract reports 87% for OGBench-Cube; the 88% above describes the supplied Cube checkpoint. The additional BC-init Cube checkpoint is listed separately.

Download

from huggingface_hub import hf_hub_download

checkpoint_path = hf_hub_download(
    repo_id="kikihuang/GA-WM",
    filename="gawm_tworoom_object.ckpt",
)

The files are provided in their original .ckpt format. Downloading them does not install the model implementation or its dependencies.

Paper

Muyuan Liu, Yue Huang, Zheng Liang, and Xiang Gao. Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning. arXiv:2609.03565, 2026.

@article{liu2026physicallygroundedjepa,
  title={Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning},
  author={Liu, Muyuan and Huang, Yue and Liang, Zheng and Gao, Xiang},
  journal={arXiv preprint arXiv:2609.03565},
  year={2026},
  url={https://arxiv.org/abs/2609.03565}
}