---
language:
- en
tags:
- compact
- image-tokenization
- world-model
- robotics
- pytorch
- image-to-image
---

# CompACT — 16-token checkpoints

Final 16-token checkpoints for **Planning in 8 Tokens: A Compact Discrete Tokenizer for Latent World Model** (CVPR 2026).

[Code and setup instructions](https://github.com/kdwonn/CompACT) · [Paper](https://arxiv.org/abs/2603.05438) · [Project](https://kdwonn.github.io/CompACT)

## Included models

| Directory | Model | Resolution | Checkpoint |
|---|---|---|---|
| `tokenizer-16-224` | CompACT, 16 tokens | 224 × 224 | `checkpoints/epoch=24-step=500000.ckpt` |
| `tokenizer-16-256` | CompACT, 16 tokens | 256 × 256 | `checkpoints/epoch=24-step=500000.ckpt` |
| `cdit-b-16` | CDiT-B world model | 224 × 224 | `checkpoints/latest.pth.tar` |
| `cdit-l-16` | CDiT-L world model | 224 × 224 | `checkpoints/latest.pth.tar` |

Both world models use **`tokenizer-16-224`**. The 256-resolution tokenizer is provided separately. These are the original full training checkpoint files, including training state; world-model inference uses the `ema` weights. Only the final checkpoint for each variant is included. Exact training steps, original experiment names, file sizes, and SHA-256 checksums are in [manifest.json](manifest.json).

## Download

Install the environment following the [code repository](https://github.com/kdwonn/CompACT). Run from its root:

```python
from huggingface_hub import snapshot_download

snapshot_download(repo_id="kdwon/CompACT", local_dir="checkpoints/CompACT")
```

To download just one variant, include its config:

```python
snapshot_download(
    repo_id="kdwon/CompACT",
    local_dir="checkpoints/CompACT",
    allow_patterns=["tokenizer-16-224/**", "manifest.json", "SHA256SUMS"],
)
```

## Configuration

Each variant includes `.hydra/config.yaml`, in the format expected by the code repository. Set these environment variables to your local paths:

```bash
export COMPACT_CKPT_ROOT="$(pwd)/checkpoints/CompACT"
export BASE_TOKENIZER_CKPT=/absolute/path/to/base-checkpoints
export DATASET_PREFIX=/absolute/path/to/datasets
```

The current constructors also require these initialization files:

- `$BASE_TOKENIZER_CKPT/mage_vqgan/vqgan_jax_strongaug.ckpt`
- `$BASE_TOKENIZER_CKPT/dinov3/dinov3_vitb16_pretrain_lvd1689m-73cec8be.pth`

See the code repository for obtaining the MAGE and DINOv3 files. `DATASET_PREFIX` must be defined even for standalone tokenizer loading because the world-model loader resolves the complete saved tokenizer configuration.

World-model configs use `${oc.env:COMPACT_CKPT_ROOT}/tokenizer-16-224` and `${oc.env:DATASET_PREFIX}/nwm/{recon,sacson,scand}` instead of the original machine's paths. Adjust dataset overrides to match your local layout.

## Load a tokenizer

```bash
uv run load_tokenizer_checkpoint.py "$COMPACT_CKPT_ROOT/tokenizer-16-224" --no-test
```

Use `tokenizer-16-256` for the 256-resolution variant. For image encoding, use the saved DINO normalization (`dinov2_mean` and `dinov2_std`); the tokenizer's output normalization buffers describe decoded images.

## Planning evaluation

With the required navigation datasets installed:

```bash
uv run bash scripts/plan.sh --nproc=1 -- \
  ++exp_dir="$COMPACT_CKPT_ROOT/cdit-b-16" \
  ++tokenizer_path="$COMPACT_CKPT_ROOT/tokenizer-16-224" \
  ++ckp=latest
```

Replace `cdit-b-16` with `cdit-l-16` to use the larger world model. Dataset setup and evaluation options are documented in the code repository.

## Validation

These files passed strict weight-loading checks in the public CompACT codebase. Both tokenizers encoded and reconstructed a real image. Both the regular and EMA weights of the world models passed forward checks, and EMA models completed image-to-predicted-image inference. Validation used PyTorch 2.6.0+cu124 and bfloat16 inference on an RTX 6000 Ada GPU. These smoke checks do not constitute a rerun of the paper's evaluation benchmarks.

Verify downloaded checkpoint bytes from the download directory:

```bash
sha256sum -c SHA256SUMS
```

## Citation

```bibtex
@inproceedings{kim2026planning,
  title={Planning in 8 Tokens: A Compact Discrete Tokenizer for Latent World Model},
  author={Kim, Dongwon and Seo, Gawon and Lee, Jinsung and Cho, Minsu and Kwak, Suha},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2026}
}
```