---
license: apache-2.0
library_name: lerobot
pipeline_tag: robotics
tags:
- long-wam
- libero
---

# Long-WAM LIBERO IDM — LeRobot

LeRobot-native version of [Long-WAM LIBERO IDM](https://huggingface.co/Efficient-Large-Model/Long-WAM-LIBERO-IDM).
IDM imagines future video before denoising actions. This checkpoint uses 48 control ticks of observation history.

Use a LeRobot version with Long-WAM policy support and the `longwam` and `libero` extras installed.
The repository includes the complete policy weights, configuration, and preprocessing statistics.
The tokenizer loads from `google/umt5-xxl`.

## Evaluation

```bash
lerobot-eval \
  --policy.path=Efficient-Large-Model/Long-WAM-LIBERO-IDM-LeRobot \
  --policy.device=cuda \
  --env.type=libero --env.task=libero_spatial --eval.batch_size=1
```

For direct inference, load `LongWAMPolicy.from_pretrained(...)` with the saved pre/post-processors.
Call `select_action` on every control tick and `reset()` between episodes.
Use the saved camera order and action/state definitions. Execution is synchronous.