junwon-seo/LatentDisturbance

Modeling Latent Disturbances for Robust Decision-Making in World Models: checkpoints

Pretrained world models and latent safety filters for LUCID. 📄 Paper · 🌐 Project page

checkpoints/
  dubins/          wm_naughty.pt  wm_positional.pt  filter_naughty/  filter_positional/
  block_pouring/   wm.pt  filter/  filter_nominal/  diffusion_policy/
  egg/             wm.pt  norm_stats.json  filter/

Download into the root of the code repository, e.g. for the Dubins car:

hf download junwon-seo/LatentDisturbance --include "checkpoints/dubins/*" --local-dir .

The egg world model (checkpoints/egg/wm.pt) does not include the frozen DINOv3 ViT-S/16+ encoder; download dinov3_vits16plus_pretrain_lvd1689m-4057cbaa.pth from DINOv3 and place it in checkpoints/egg/.

Data: junwon-seo/LatentDisturbance-data.

Citation

@article{seo2026latentdisturbance,
  title={Modeling Latent Disturbances for Robust Decision-Making in World Models},
  author={Seo, Junwon and Bajcsy, Andrea},
  journal={arXiv preprint arXiv:2610.07599},
  year={2026}
}