ReCAP robot reference checkpoints
Matched tokenizer, world model and action ranges for RT-1, CALVIN D-to-D, LIBERO-90 and BridgeData V2. Eight exports, 36 asset files, approximately 4.14 GB. World models have 127,101,696 parameters; tokenizers have 129,448,016 parameters. All exports were SHA-256 verified and strictly loaded on CPU on 2026-09-09.
ReCAP itself is training-free and adds no weights. Use each dataset's paired models and action ranges. These checkpoints predict robot video with supplied actions; they are not validated deployed controllers.
See the code repository for installation, dataset links, protocols, results, validation and limitations. The directories under weights/ have individual cards documenting initialization and adaptation. These exports do not include optimizer or RNG state and are not resumable training snapshots.
The MIT model terms retain upstream iVideoGPT and RLVR-World attribution. Dataset terms remain with the respective publishers. The ReCAP source code is separately licensed Apache-2.0.
Download
Clone ReCAP, install its assets extra, then run recap download --dataset calvin --root .. The code release manifest pins an immutable Hub revision and verifies SHA-256 values. Use rt1, calvin, libero, or bridge to select a matched pair.
Version
The verified model tensors are pinned to 61f3c350349f58ba8619c2454b5fac5802756282 in the release manifest. Later model-card updates do not alter that immutable asset revision.
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