metadata
license: mit
pipeline_tag: robotics
tags:
- robotics
- world-models
- safety
Modeling Latent Disturbances for Robust Decision-Making in World Models: checkpoints
Pretrained world models and latent safety filters for LUCID. 📄 Paper · 🌐 Project page · 💻 Code
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}
}