stable-worldmodel

A platform for reproducible world model research and evaluation.

GPU utilization for LeWM trained with Push-T LanceDB dataset on a H200 GPU.

` (read-only adapter) | training/eval directly on LeRobot Hub datasets | ```python world.collect("data/pusht.lance", episodes=100) # default: lance world.collect("data/pusht_video", episodes=100, format="video") # mp4 episodes ds = swm.data.load_dataset("data/pusht.lance", num_steps=16) # autodetect swm.data.convert("data/pusht.lance", "data/pusht_video", dest_format="video", fps=30) # one-shot migration ``` Every writer accepts a `mode` kwarg (`'append'` (default), `'overwrite'`, `'error'`); re-running `world.collect` extends the existing dataset rather than failing.

Throughput & storage benchmarks

Numbers below were produced by [`scripts/benchmark/compare_h5_lance.py`](scripts/benchmark/compare_h5_lance.py) and can be reproduced with it. Benchmarks use the [PushT dataset](https://huggingface.co/datasets/galilai-group/lewm-pusht) from the [LeWorldModel](https://le-wm.github.io/) paper. ## Throughput | Format | Source | Cache | samples/s | ms/step | |---------|----------|----------|-----------|----------| | HDF5 | local | no-cache | 1416.1 | 45.2 | | HDF5 | local | cached | 1474.0 | 43.4 | | LanceDB | local | no-cache | 4814.8 | 13.3 | | LanceDB | local | cached | 4431.3 | 14.4 | | Video | local | - | 1330.6 | 48.1 | | LanceDB | s3 | no-cache | 3183.7 | 20.1 | | LanceDB | s3 | cached | 3253.2 | 19.7 | | HDF5 | s3 | no-cache | 9.1 | 7032.5 | | HDF5 | s3 | cached | 756.5 | 84.6 | ## Storage size per format (local) | Format | Local size | |---------|------------| | HDF5 | 43.12 GB | | LanceDB | 13.31 GB | | Video | 496.29 MB |

## Environments

Top row: default appearance · Bottom row: visual factor of variation

Environments are pulled from the [DeepMind Control Suite](https://github.com/google-deepmind/dm_control), [Gymnasium classic control](https://gymnasium.farama.org/environments/classic_control/), [OGBench](https://github.com/seohongpark/ogbench), [Craftax](https://github.com/MichaelTMatthews/Craftax), the [Arcade Learning Environment](https://ale.farama.org/) (100+ Atari games), and classical world model benchmarks ([Two-Room](https://arxiv.org/abs/2411.04983), [PushT](https://arxiv.org/abs/2303.04137)). Most environments ship with a set of **factors of variation** — independently controllable visual and physical parameters (lighting, textures, dynamics, morphology) — that make it straightforward to evaluate zero-shot generalization to distribution shifts without any additional setup. Adding a new environment only requires conforming to the [Gymnasium](https://gymnasium.farama.org/) interface.

Full environment list

| [Environment ID](https://github.com/galilai-group/stable-worldmodel/tree/main/stable_worldmodel/envs) | # FoV | |------------------------------|---------| | swm/PushT-v1 | 16 | | swm/TwoRoom-v1 | 17 | | swm/OGBCube-v0 | 11 | | swm/OGBScene-v0 | 12 | | swm/HumanoidDMControl-v0 | 7 | | swm/CheetahDMControl-v0 | 7 | | swm/HopperDMControl-v0 | 7 | | swm/ReacherDMControl-v0 | 8 | | swm/WalkerDMControl-v0 | 8 | | swm/AcrobotDMControl-v0 | 8 | | swm/PendulumDMControl-v0 | 6 | | swm/CartpoleDMControl-v0 | 6 | | swm/BallInCupDMControl-v0 | 9 | | swm/FingerDMControl-v0 | 10 | | swm/ManipulatorDMControl-v0 | 8 | | swm/QuadrupedDMControl-v0 | 7 | | swm/CartPoleControl-v1 | 10 | | swm/MountainCarControl-v0 | 5 | | swm/MountainCarContinuousControl-v0 | 4 | | swm/AcrobotControl-v1 | 11 | | swm/PendulumControl-v1 | 9 | | swm/FetchReach-v3 | 8 | | swm/FetchPush-v3 | 11 | | swm/FetchSlide-v3 | 11 | | swm/FetchPickAndPlace-v3 | 11 | | swm/CraftaxClassicPixels-v1 | — | | swm/CraftaxClassicSymbolic-v1| — | | swm/CraftaxPixels-v1 | — | | swm/CraftaxSymbolic-v1 | — | | [ALE/* (100+ Atari games)](https://ale.farama.org/) | — |

## Solvers and Baselines

| [Solver](https://github.com/galilai-group/stable-worldmodel/tree/main/stable_worldmodel/solver) | Type | |---------------------------------------|-----------------| | Cross-Entropy Method (CEM) | Sampling | | Improved CEM (iCEM) | Sampling | | Model Predictive Path Integral (MPPI) | Sampling | | Predictive Sampling | Sampling | | Gradient Descent (SGD, Adam) | Gradient | | Projected Gradient Descent (PGD) | Gradient | | Augmented Lagrangian | Constrained Opt | | [Baseline](https://github.com/galilai-group/stable-worldmodel/tree/main/scripts/train) | Type | |----------|-------------------| | DINO-WM | JEPA | | PLDM | JEPA | | LeWM | JEPA | | GCBC | Behaviour Cloning | | GCIVL | RL | | GCIQL | RL |

## Command-Line Interface After installation, the `swm` command is available for inspecting/converting datasets, environments, and checkpoints without writing code: ```bash swm datasets # list cached datasets swm inspect pusht_expert_train # inspect a specific dataset swm envs # list all registered environments swm fovs PushT-v1 # show factors of variation for an environment swm checkpoints # list available model checkpoints swm convert pusht_expert_train --dest-format video # convert a dataset to another format ``` ## Documentation The full documentation lives at [galilai-group.github.io/stable-worldmodel](https://galilai-group.github.io/stable-worldmodel/), with API references, tutorials, and guides. ## Built on `stable-worldmodel` - **[C-JEPA](https://hazel-heejeong-nam.github.io/cjepa/)** - **[LeWM](https://le-wm.github.io/)** ## Citation ```bibtex @misc{maes_lld2026swm, title = {stable-worldmodel: A Platform for Reproducible World Modeling Research and Evaluation}, author = {Lucas Maes and Quentin Le Lidec and Luiz Facury and Nassim Massaudi and Ayush Chaurasia and Francesco Capuano and Richard Gao and Taj Gillin and Dan Haramati and Damien Scieur and Yann LeCun and Randall Balestriero}, year = {2026}, eprint = {2605.21800}, archivePrefix = {arXiv}, primaryClass = {cs.LG}, url = {https://arxiv.org/abs/2605.21800}, } ``` ## Questions Open an [issue](https://github.com/galilai-group/stable-worldmodel/issues) — happy to help.