t-tech/qantara-checkpoints

Qantara headline checkpoints

Released checkpoints for Qantara, a compact (~21M-param) JEPA world model for goal-conditioned planning from pixels and actions, and for our LeWM reproduction baseline. These reproduce the LeWM-suite headline numbers (Table 1) from the ICML 2026 workshop paper.

• Project page: https://corl-team.github.io/qantara
• Code: https://github.com/corl-team/qantara
• Paper: https://arxiv.org/abs/2607.04978
• Thread: https://x.com/rusrakhimov/status/2074847486288806306

Files

24 checkpoints = 2 methods × 4 environments × 3 training seeds.

Pattern	Method
qantara-<env>-s<seed>.ckpt	Qantara (γ=1, λ_z=3, nulldrop=0) headline
lewm-<env>-s<seed>.ckpt	LeWM reproduction baseline

env ∈ {pusht, tworoom, cube, reacher}, seed ∈ {11, 22, 33}.

Loading

Each file is a full model object (torch.save of a jepa.JEPA). Clone the code repo, then:

import torch
model = torch.load("qantara-pusht-s11.ckpt", map_location="cpu", weights_only=False)

The repository's eval.py consumes these directly. See the repo README for the full train → eval → figure pipeline.

Citation

@inproceedings{qantara2026,
  title     = {Qantara: Bridge-Flow Training for Multi-Paradigm JEPA Control},
  author    = {Rakhimov, Ruslan and Bredis, George and Maksyuta, Yuriy and Gavrilov, Daniil},
  booktitle = {ICML 2026 Workshop on Decision-Making from Offline Datasets to Online Adaptation: Black-Box Optimization to Reinforcement Learning},
  year      = {2026},
  url       = {https://arxiv.org/abs/2607.04978},
}