# Ctrl-World

Ctrl-World is an action-conditioned world model for robot manipulation, trained on the DROID dataset. Its authors roll a vision-language-action policy forward entirely in imagination, so the policy can be evaluated or improved without a physical robot.

Organization: Stanford University and Tsinghua University. Released: October 2025. Kind: Robotics.

## What you control

- Keyboard commands converted into robot action chunks
- Actions proposed by a robot policy

## License

Weights: Available (https://huggingface.co/yjguo/Ctrl-World). Declared license: MIT.
The weights' model card declares MIT, a permissive license that allows commercial use. Ctrl-World is fine-tuned from Stable Video Diffusion, whose own license also applies to the base weights it needs.

## Real-time

No real-time claim.

## How to run it

1. Create a Python 3.11 conda environment and install requirements.txt; to let the π0.5 policy act inside the world model, also install openpi.
2. Download the checkpoint and dataset listed in the README.
3. Replay recorded trajectories, steer the robot arm from the keyboard, or let the π0.5 policy act.

## Where to try

No hosted destination verified.

## Sources

- [Project source](https://github.com/Robert-gyj/Ctrl-World)
- [Weights and model card](https://huggingface.co/yjguo/Ctrl-World)

## Questions

### Is Ctrl-World open source?

Ctrl-World publishes downloadable weights under MIT. The declared license is permissive.

### Can I use Ctrl-World commercially?

The weights' model card declares MIT, a permissive license that allows commercial use. Ctrl-World is fine-tuned from Stable Video Diffusion, whose own license also applies to the base weights it needs.

### Does Ctrl-World run in real time?

The cited sources do not claim real-time operation.

### Where can I try Ctrl-World?

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

### What does Ctrl-World take as input?

You give it keyboard commands converted into robot action chunks and actions proposed by a robot policy.

### How do I run Ctrl-World?

Following the official instructions: Create a Python 3.11 conda environment and install requirements.txt; to let the π0.5 policy act inside the world model, also install openpi. Download the checkpoint and dataset listed in the README. Replay recorded trajectories, steer the robot arm from the keyboard, or let the π0.5 policy act.

### What are alternatives to Ctrl-World?

Similar models in this directory include 1X World Model (open weights, permissive license), EnerVerse-AC (open weights, non-commercial) and ABot-World (open weights, permissive license).

Checked 2026-10-23. Corrections: https://github.com/windflow-labs/world-model-directory