Downloads · 30 days
144
13% of all-time downloads
yjguo/Ctrl-World
Ctrl-World is a robotics model from yjguo. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as mit.
<div align="center" <h2<center👉 Ctrl-World: A Controllable Generative World Model for Robot Manipulation </h2
Downloads · 30 days
144
13% of all-time downloads
All-time downloads
1.1K
Public
Repo size
9.3 GB
Likes
5
Public
Click a slice to open those files.
.pt9.3 GB · 100%
From the Hugging Face model README
Yanjiang Guo*, Lucy Xiaoyang Shi*, Jianyu Chen, Chelsea Finn
*Equal contribution; Stanford University, Tsinghua University
<a href='https://arxiv.org/abs/2510.10125'><img src='https://img.shields.io/badge/ArXiv-2510.10125-red'></a> <a href='https://ctrl-world.github.io/'><img src='https://img.shields.io/badge/Project-Page-Blue'></a>
</div>Ctrl-World is an action-conditioned world model compatible with modern VLA policies and enables policy-in-the-loop rollouts entirely in imagination, which can be used to evaluate and improve the instruction following ability of VLA.
<p> <img src="ctrl_world.jpg" alt="wild-data" width="100%" /> </p>This repo include the Ctrl-World model checkpoint trained on opensourced DROID dataset (~95k trajectories, 564 scenes). The DROID platform consists of a Franka Panda robotic arm equipped with a Robotiq gripper and three cameras: two randomly placed third-person cameras and one wrist-mounted camera.
See the official Ctrl-World github repo for detailed usage.
Ctrl-World is developed from the opensourced video foundation model Stable-Video-Diffusion. The VLA model used in this repo is from openpi. We thank the authors for their efforts!
If you find our work helpful, please leave us a star and cite our paper. Thank you!
@article{guo2025ctrl,
title={Ctrl-World: A Controllable Generative World Model for Robot Manipulation},
author={Guo, Yanjiang and Shi, Lucy Xiaoyang and Chen, Jianyu and Finn, Chelsea},
journal={arXiv preprint arXiv:2510.10125},
year={2025}
}