Windflow

EnerVerse-AC

AgiBot · Released May 2025

An action-conditioned robot world model from AgiBot that generates the camera view a robot arm would see while it carries out a given sequence of actions. The released weights were trained only on the open AgiBot World dataset and are licensed for non-commercial use.

Get the weightsCan I use it commercially?
Weights
Open weightsCC BY-NC-SA 4.0
Commercial use
Non-commercial
Real-time
No real-time claim
Where to try
Run it yourself

01 Controls

What you control

  • One start frame from the robot's camera
  • An action sequence for the robot
  • The camera's extrinsic and intrinsic parameters

02 License

Can you use it commercially?

Non-commercial

No. The model card declares CC BY-NC-SA 4.0: no commercial use, and anything you build from the weights must use the same license.

Declared license: CC BY-NC-SA 4.0 · Model card

A reading of the published license text, not legal advice.

03 Speed

Does it run in real time?

No real-time claim. The cited sources make no real-time claim.

Figures are the authors' own, with their settings and hardware. They are not comparable across models.

04 Setup

How to run it

  1. 01Create a Python 3.10 conda environment and install requirements.txt and PyTorch3D.
  2. 02Download the single-view checkpoint from Hugging Face and the CLIP weights, and set both paths in the configs.
  3. 03Prepare a start frame, an action file and camera parameter files; the repository includes a script that converts AgiBot World episodes into this format.

Summarised from the project's own instructions. Follow the source for exact commands and versions.

05 Access

Where to try it

No hosted version was verified. Run the published weights yourself.

Listed alphabetically. Windflow maintains this directory and is one of the hosts; a listing does not promise capacity at any given moment.

06 Questions

EnerVerse-AC FAQ

Is EnerVerse-AC open source?

EnerVerse-AC publishes downloadable weights under CC BY-NC-SA 4.0. Read the license terms before you build on it.

Can I use EnerVerse-AC commercially?

No. The model card declares CC BY-NC-SA 4.0: no commercial use, and anything you build from the weights must use the same license.

Does EnerVerse-AC run in real time?

The cited sources do not claim real-time operation.

Where can I try EnerVerse-AC?

No hosted version was verified; run the published weights yourself.

What does EnerVerse-AC take as input?

You give it one start frame from the robot's camera, an action sequence for the robot and the camera's extrinsic and intrinsic parameters.

How do I run EnerVerse-AC?

Following the official instructions: Create a Python 3.10 conda environment and install requirements.txt and PyTorch3D. Download the single-view checkpoint from Hugging Face and the CLIP weights, and set both paths in the configs. Prepare a start frame, an action file and camera parameter files; the repository includes a script that converts AgiBot World episodes into this format.

What are alternatives to EnerVerse-AC?

Similar models in this directory include 1X World Model (open weights, permissive license), Ctrl-World (open weights, permissive license) and LingBot-World 2.0 (open weights, non-commercial).

Similar world models

All 56 in the directory