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license: other
license_name: mixed-apache-2.0-and-mit
tags:
- robotics
- world-model
- model-based-control
- jepa
- reinforcement-learning
---
# LePlanner
Official checkpoints for **LePlanner: Amortized Iterative Control in Frozen Latent World Models**.
[[Paper](link-to-paper)] [[Code](https://github.com/SaltedLemon/lejepa_control)]
## Results
| Environment | Success |
|---|---|
| PushT | 98% (rh=1) |
| Reacher | 100% |
| TwoRooms | 100% |
## Download
```python
from huggingface_hub import hf_hub_download
env = "reacher" # or "pusht" / "tworooms"
controller = hf_hub_download("nottygian/Leplanner", f"checkpoints/Leplanner Controller/{env}/controller.pt", repo_type="model")
density = hf_hub_download("nottygian/Leplanner", f"checkpoints/Leplanner Controller/{env}/density.pt", repo_type="model")
world_model = hf_hub_download("nottygian/Leplanner", f"checkpoints/base_world_models/{env}/weights.pt", repo_type="model")
```
## Structure
```
checkpoints/
├── Leplanner Controller/ # Trained controllers + density
│ ├── pusht/
│ │ ├── controller.pt # 98% success
│ │ └── density.pt
│ ├── reacher/
│ │ ├── controller.pt # 100% success
│ │ └── density.pt
│ └── tworooms/
│ ├── controller.pt # 100% success
│ └── density.pt
├── base_world_models/ # Frozen LeWM world models
│ ├── pusht/config.json + weights.pt
│ ├── reacher/config.json + weights.pt
│ └── tworooms/config.json + weights.pt
└── results/eval/results.jsonl # Raw evaluation logs
code/ # Training & evaluation scripts
```
## Citation
```bibtex
@article{leplanner,
title={LePlanner: Amortized Iterative Control in Frozen Latent World Models},
author={[Authors]},
journal={[Venue]},
year={[Year]},
}
```
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