git clone https://github.com/EmbodiedCity/ANWM.code.git
cd ANWM.code

huggingface-cli download EmbodiedCity/ANWM 0200000.pth.tar \
  --local-dir logs/anwm_cdit_airvln/checkpoints

# optional check
python scripts/check_environment.py --require-checkpoint

# inference
torchrun --standalone --nproc_per_node=1 infer.py \
  --exp config/anwm.yaml \
  --ckp 0200000 \
  --datasets airvln_16 \
  --eval_type rollout \
  --rollout_fps_values 1,4

This places the weight at:

logs/anwm_cdit_airvln/checkpoints/0200000.pth.tar

Code: https://github.com/EmbodiedCity/ANWM.code
Dataset: https://huggingface.co/datasets/EmbodiedCity/ANWM-Dataset
Model: https://huggingface.co/EmbodiedCity/ANWM
Paper: https://arxiv.org/abs/2512.21887

EmbodiedCity/ANWM

ANWM

Files

Quick start

Related

EmbodiedCity/
ANWM