---
license: cc-by-4.0
arxiv: 2608.29434
datasets:
- fafraob/point-cloud-reacher
tags:
- world-model
- jepa
- point-cloud
- planning
- robotics
---

# Point-cloud world models: Reacher

World-model checkpoints for the **Reacher** environment from the paper
*Does Latent Planning Survive Point Clouds? Action-Conditioned JEPA World Models for Geometric Observations and Goals*
([arXiv:2608.29434](https://arxiv.org/abs/2608.29434)).
Trained on [`fafraob/point-cloud-reacher`](https://huggingface.co/datasets/fafraob/point-cloud-reacher). Code, evaluation scripts and full details:
[github.com/fafraob/point-lewm](https://github.com/fafraob/point-lewm).

| folder | model | observation |
|---|---|---|
| `point-lewm/` | Point-LeWM (LeWM objective, PointViT encoder) | point cloud |
| `point-delta-jepa/` | Point-Delta-JEPA (Delta-JEPA objective, PointViT encoder) | point cloud |
| `image-delta-jepa/` | Delta-JEPA with a ViT-tiny image encoder trained from scratch | RGB |
| `utonia-wm/` | JEPA predictor on frozen [Utonia](https://huggingface.co/Pointcept/Utonia) voxel features | point cloud |
| `dino-wm/` | [DINO-WM](https://arxiv.org/abs/2411.04983) baseline, frozen DINOv2 ViT-S/14, no proprioception | RGB |

Every folder except `dino-wm/` holds `weights.pt` (state dict) and `config.json` (Hydra instantiation spec) and loads
with the `stable-worldmodel` folder loader from the code repository:

```python
from huggingface_hub import snapshot_download
import stable_worldmodel as swm

local = snapshot_download("fafraob/point-cloud-reacher", allow_patterns=["point-lewm/*"])  # or any other folder
model = swm.wm.utils.load_pretrained(f"{local}/point-lewm/")
```

`utonia-wm/` needs the public Utonia backbone (`utonia.pth` from `Pointcept/Utonia`, not redistributed here) placed at
`checkpoints/utonia/utonia.pth` in the code repository. `dino-wm/` is in the layout the official
[dino_wm](https://github.com/gaoyuezhou/dino_wm) code loads (`hydra.yaml`, `checkpoints/model_latest.pth`,
`swm_h5_norm_stats.json` with the action normalisation); see the code repository for the evaluation wrapper.

## target2latent goal heads

`point-lewm/target2latent/` and `point-delta-jepa/target2latent/` hold the typed-3-D-goal heads that map an object
pose (cube position, T pose + ball position, agent position, or wrist + fingertip position) to the goal latent of the
encoder they sit under, so planning needs no recorded goal observation. Four heads each: `mlp`, `mlp_z` (also
conditioned on the current latent), `shortcut` (flow-matching shortcut model, samples in 1 to 64 steps), `shortcut_z`.
Each folder holds one `model.pt` (state dict + architecture config); load with `target2latent.models.load_goal_model`
from the code repository.

## Citation

For the most recent citation see the [code repository](https://github.com/fafraob/point-lewm).

```bibtex
@misc{oberweger2026doeslatentplanningsurvive,
  title         = {Does Latent Planning Survive Point Clouds? Action-Conditioned JEPA World Models for Geometric Observations and Goals},
  author        = {Fabio F. Oberweger and Michael Schwingshackl and Markus Murschitz},
  year          = {2026},
  eprint        = {2608.29434},
  archivePrefix = {arXiv},
  primaryClass  = {cs.LG},
  url           = {https://arxiv.org/abs/2608.29434},
}
```