SAGE Checkpoints

Official checkpoints for SAGE: Subgoal-Conditioned Action Generation for Latent World Model Planning.

Files

File	Environment	Component
pusht_generator.pt	PushT	Subgoal generator
pusht_action_prior.pt	PushT	Local-goal action prior
pusht_far_action_prior.pt	PushT	Far-goal action prior
cube_generator.pt	OGBench Cube	Subgoal generator
cube_action_prior.pt	OGBench Cube	Local-goal action prior
cube_far_action_prior.pt	OGBench Cube	Far-goal action prior

The accompanying code and usage instructions are available in the SAGE release package.

Citation

@article{cheng2026sage,
  title={SAGE: Subgoal-Conditioned Action Generation for Latent World Model Planning},
  author={Cheng, Letian and Zhang, Qi and Wang, Qixun and Wang, Yisen},
  journal={arXiv preprint arXiv:2607.17973},
  year={2026}
}