---
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]},
}
```