physical-world/physical-world-checkpoints-release

PhysiCalWorld Checkpoints

Pretrained checkpoints for PhysiCalWorld: In-Context Physics Calibration for World Models. Assets are organized by environment (pusht, reacher, beerpong, fetch_slide) and method.

Paper: https://arxiv.org/abs/2610.30125 · Code: https://github.com/physical-world/physical-world-release · Project page: https://physical-world.github.io/

Download this repository into the code repository's checkpoints/ directory:

pixi run hf download physical-world/physical-world-checkpoints-release --local-dir checkpoints

Each method directory contains:

• next_frame_model.pth (next_frame_model.pt for LeWM): world model checkpoint.
• next_frame_model_config.yaml: model and training configuration.
• *_eval_config.yaml: evaluation configurations read by the evaluation scripts.
• next_frame_estimator.pth (Estimated Physics only): physical parameter estimator.
• next_frame_decoder.pt (LeWM only): image decoder trained on frozen LeWM latents.

Each environment directory also has segmentation.pth, the segmentation model shared by all methods for foreground IoU in evaluation. pusht/pusht_ppo.pt is the CoM-agnostic PPO policy used to collect the Push-T data.