Enfold Checkpoints
- Paper: Enfold: Folding World Model Imagination into Predictive Representations for Ultra-Efficient Embodied Control
- Code: https://github.com/zwl666666/enfold
- Project Page: https://zwl666666.github.io/enfold/
This repository provides the official checkpoints for Enfold: Folding World-Generator Computation into Predictive Representations for Efficient Embodied Control
What is included
Each benchmark has one policy checkpoint and one matching normalization-statistics file. Always use a checkpoint with the statistics file from the same row.
| Benchmark | Policy checkpoint | Normalization statistics | Evaluation setup |
|---|---|---|---|
| LIBERO | enfold_libero.pt | libero_dataset_stats.pt | Two camera views, concatenated to 224 × 448; 7-D actions and 8-D proprioception |
| RoboTwin | enfold_robotwin.pt | robotwin_dataset_stats.pt | Three camera views at 384 × 320; 14-D actions and proprioception |
Download
Install the Hub client, then download only the files for the benchmark you plan to evaluate:
from huggingface_hub import snapshot_download
snapshot_download(
repo_id="richardxyt/Enfold",
local_dir="checkpoints/enfold_libero",
allow_patterns=["enfold_libero.pt", "libero_dataset_stats.pt"],
)
For RoboTwin, replace the two filenames with enfold_robotwin.pt and robotwin_dataset_stats.pt.
Evaluation
First install the Enfold source code and its dependencies, then configure the required external model assets (Cosmos-Predict2.5, Cosmos tokenizer/VAE and text-encoder assets, DINOv3 ViT-H/16+). The source configuration contains paths that must be changed for your machine.
From the Enfold project root, evaluate the matching checkpoint/statistics pair:
# LIBERO
bash eval.sh libero \
checkpoints/enfold_libero/enfold_libero.pt \
checkpoints/enfold_libero/libero_dataset_stats.pt
# RoboTwin
bash eval.sh robotwin \
checkpoints/enfold_robotwin/enfold_robotwin.pt \
checkpoints/enfold_robotwin/robotwin_dataset_stats.pt
See the Enfold source repository for environment setup, dataset preparation, optional Hydra overrides, multi-GPU evaluation.
Citation
If these checkpoints help your research, please cite the model repository:
@software{enfold2026,
title = {Enfold: Robotics Policy Checkpoints},
author = {Enfold Authors},
year = {2026},
url = {https://huggingface.co/richardxyt/Enfold}
}