Weights and frozen goal banks behind the paper. A 3D trace world model predicts one future per episode; the Entity-Level Goal Readout turns that prediction into a single executable goal in SE(3), and a shared Pose-Native Executor runs it closed loop at 20 Hz across five ManiSkill3 tasks. Reproducing the main table needs the executors and the banks only — no planner, no gated licence, one GPU: Everything else — the full install, the inference and training chains, which record backs which number — is in the code repository's README and docs/REPRODUCTION.md. Closed-loop success, %, PickCube / LiftPegUpright / PegInsertionSide / StackCube / PushCube. The readout rows share one set of executor…
Independent publisher
Tzu-Yu Chuang
Claire0730
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Models on Hugging Face3
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Published tasks: Robotics.
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