Release six-frame source checkpoint for STCOcc and Waymo fine-tuning

README.md

@@ -15,16 +15,18 @@ Pretrained PyTorch checkpoints for LO-World, a BEV latent world model for joint
 
 ```bash
 hf download JimmyLiaoo/LO-World \
+  bev_world_6f.pth \
   bev_world_12f_autoregressive.pth bev_world_12f_layout_autoregressive.pth \
   bev_world_6f_stc.pth bev_world_6f_waymo.pth occ_lidar_vae.pth SHA256SUMS --local-dir ckpts
 ```
 
 ## Checkpoints
 
-The release contains five checkpoints for inference and result reproduction.
+The release contains six checkpoints for inference, fine-tuning and result reproduction.
 
 | File | Model |
 | --- | --- |
+| bev_world_6f.pth | 6-frame nuScenes World Model; source for STCOcc and Waymo fine-tuning |
 | bev_world_12f_autoregressive.pth | 12-frame autoregressive World Model |
 | bev_world_12f_layout_autoregressive.pth | 12-frame autoregressive World Model with physical v1 BEVLayout conditioning |
 | bev_world_6f_stc.pth | 6-frame nuScenes World Model fine-tuned on STCOcc-conditioned latents |
@@ -40,6 +42,14 @@ generated with the `r50_704_256_16f_occ3d` checkpoint from
 Use `configs/tokenizer/occ_lidar_vae_stc_latent.py` to prepare the matching
 input latents.
 
+`bev_world_6f.pth` is the shared source checkpoint for STCOcc and Waymo
+fine-tuning. Both adaptations predict six future frames at 2 Hz (0.5–3
+seconds). Their configurations load this complete checkpoint through
+`load_from`, keeping the tokenizer frozen. The STCOcc fine-tuning
+configuration is `configs/world_model/bev_world_6f_stc_occ.py` (8 epochs,
+AdamW learning rate 1e-5); the Waymo configuration is
+`configs/world_model/bev_world_6f_waymo.py`.
+
 For `bev_world_6f_stc.pth`, use
 `configs/world_model/bev_world_6f_stc_occ.py` and matching STCOcc-conditioned
 validation latents at `data/stc_occ_lidar_latent/<sample_token>.npz`.

SHA256SUMS

@@ -1,5 +1,6 @@
 d38a6988f1da654ab7fb713e750aa8fe23fd4f208f15c18aca6a9812e161fbc9  bev_world_12f_autoregressive.pth
 a2c725491a70f34d6ac8962ba5b44bd2d5d8fb27e31aad787895d55e55fc4383  bev_world_12f_layout_autoregressive.pth
+b6a6fc3bd1a7dd18d9b5f0402315c9cc40706d959c8c1aed7cc52265e4733183  bev_world_6f.pth
 5ef4a63a5f3788f6bf6fe5299e06f7a3dcb13c9fdbc8a6641a5863a4d0bbe69d  bev_world_6f_stc.pth
 0662648dec4a5b13c4b3ef9fb96309adaaf578d0c667b772791c6617cbce495e  bev_world_6f_waymo.pth
 0ef9756b6e1df8e5e357b53421fb8a4be6fa76f0590332152ba6d58e39d3a901  occ_lidar_vae.pth

bev_world_6f.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a6fc3bd1a7dd18d9b5f0402315c9cc40706d959c8c1aed7cc52265e4733183
+size 240368405