Structured 4D Latent Predictive Model for Robot Planning

<h1 style="text-align: center;">Structured 4D Latent Predictive Model for Robot Planning</h1>

This repository contains the released model weights for [**Structured 4D Latent Predictive Model for Robot Planning**](https://huggingface.co/papers/2607.01166).

## Repository Contents

```text
README.md
.gitattributes
pipeline.json
generator/
  single_dynamics.json
  single_dynamics.safetensors
  latent_generator.json
  latent_generator.safetensors
inverse_dynamics/
  inverse_dynamics.ckpt
```

## Download

```python
from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="zhiyi24/structured-4d-model",
    local_dir=".ckpt/structured-4d-model",
    local_dir_use_symlinks=False,
)
```

## Citation

```bibtex
@article{li2026structured,
  title={Structured 4D Latent Predictive Model for Robot Planning}, 
  author={Zhiyi Li and Peilin Wu and Xiaoshen Han and Ruojin Cai and Yilun Du},
  year={2026},
  eprint={2607.01166},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2607.01166}, 
}
```