FutureWorlds research checkpoints

FutureWorlds learns action-conditioned robotic world models from alternative predicted futures. This repository contains the paired research checkpoints for RT-1, BridgeV2, and RoboCasa. The implementation, protocols, and reproduction instructions are in the FutureWorlds GitHub repository.

Contents

Each dataset has a main predictor, an SFT predictor, and memspo200, grpo200, and ordinary200 comparison predictors. The dataset directory also contains its paired visual codec, action-range metadata, and configuration. RT-1 and RoboCasa predictors include trained text adapters. The original FP32 safetensors are kept without quantization or variant merging.

Dataset	Main checkpoint	Text conditioning
RT-1	MemSPO, 500 updates, R0	T5-base plus trained adapters
BridgeV2	MemSPO, 200 updates, E4/R1	None in this recipe
RoboCasa	MemSPO, 400 updates, R0	T5-base plus trained adapters

The external T5-base model is not copied into this repository. Use revision a9723ea7f1b39c1eae772870f3b547bf6ef7e6c1 of google-t5/t5-base for the text-conditioned datasets.

Loading

These are custom action-conditioned predictors, not generic pipeline("text-to-video") models. Use the dataset-specific codec, action ranges, and text adapter. The included code/ directory contains the paired low-level checkpoint loader; see the GitHub loading guide for the full RGB pipeline and the model cards for variant details. main and memspo200 are different checkpoints.

Validation and limitations

The exact uploaded-file hashes are recorded in manifest.json; weights_manifest.json records component provenance and marks whether each listed hash belongs to a source file or a release file. The code repository reports first-frame agreement with the original entry point on one fixed case per dataset. Full-horizon GPU reproduction of the consolidated release pipeline remains pending. Results in the paper and GitHub README are existing experiment results, not a fresh evaluation of this upload. The repository does not contain raw RT-1, BridgeV2, or RoboCasa datasets, optimizer states, or third-party baseline weights.

Rights and attribution

No license has been selected for the original FutureWorlds additions or these checkpoints. Public visibility does not grant permission to use, modify, or redistribute them. Upstream components and the external T5 model retain their own licenses; see licenses/ and third-party notices. Contact the project owner for permissions.