---
license: cc-by-4.0
tags:
- robotics
- world-model
---

# HChallenge: policy and world action model weights

Code and results: https://github.com/mi-robotics/HChallenge · https://mi-robotics.github.io/HChallenge/

Laid out like the repository's `outputs/` folder (`scripts/download_weights.sh` puts them there):

```
s1/ablation/full_wrist_state_no_img_pos/ckpt_20000.pt   flow-conditioned policy: wrist camera + robot state + action flow
wam/v1/lora_20000.pt                                     world action model v1: LoRA weights for Cosmos-Predict2-2B Video2World
wam/v1/config.json                                       its training config and flow normalisation
wam/prompt_t5.pt                                         T5 embedding of the prompt "pick up the mug and put it on the plate"
```

The WAM needs the base model nvidia/Cosmos-Predict2-2B-Video2World (gated: accept its licence on Hugging Face).