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MoLA-ckpt
LeeLiaoLiao/MoLA-ckpt
MoLA-ckpt is a robotics model from LeeLiaoLiao. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for diffusers. The card lists the license as mit.
This repository contains pretrained checkpoints for From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation.
Access
Public
Updated Jun 20, 2026
Repo size
22.3 GB
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At a glance
- Task
- Robotics
- Library
- diffusers
- License
- mit
- Access
- Public
- Created
- Jun 20, 2026
- Updated
- Jun 20, 2026
- SHA
- 2feabee7
Model card
From the Hugging Face model README
MoLA Checkpoints
This repository contains pretrained checkpoints for From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation.
Contents
calvin/
action_model/
saved_models/
last.pt
idms/
flow.bin
depth.bin
semantic.bin
libero/
action_model/
libero_spatial/
last.pt
libero_object/
last.pt
libero_goal/
last.pt
libero_10/
last.pt
idms/
flow.bin
depth.bin
semantic.bin
video_model/
model_index.json
feature_extractor/
image_encoder/
scheduler/
unet/
vae/
Usage
Use these checkpoints with the MoLA codebase:
git clone https://github.com/LeeLiaoLiao/MoLA-OpenSource.git
For LIBERO evaluation, pass the corresponding action model directory, video model directory, and suite name:
bash scripts/rollout_libero.sh \
/path/to/MoLA-ckpt/libero/action_model/libero_10 \
/path/to/MoLA-ckpt/libero/video_model \
/path/to/clip-vit-base-patch32 \
/path/to/LIBERO \
1 \
libero_10
For CALVIN evaluation:
bash scripts/rollout_calvin.sh \
/path/to/MoLA-ckpt/libero/video_model \
/path/to/MoLA-ckpt/calvin/action_model/saved_models \
/path/to/clip-vit-base-patch32 \
/path/to/calvin/task_ABC_D \
1
- Task
- Robotics
- Library
- diffusers
- License
- mit
- Created
- Jun 20, 2026
- Updated
- Jun 20, 2026