### Pre-Trained Models

We provide the following pre-trained models:

Config Name                            | Checkpoint                                                                                                                            | Mean Dist. | 50%ile Dist. | 75%ile Dist. | Success %age |
:-:                                    | :-:                                                                                                                                   | :-:        | :-:          | :-:          | :-:          |
cmp.lmap_Msc.clip5.sbpd_d_r2r          | [ckpt](http://download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/cmp.lmap_Msc.clip5.sbpd_d_r2r.tar)             | 4.79       | 0            | 1            | 78.9         |
cmp.lmap_Msc.clip5.sbpd_rgb_r2r        | [ckpt](http://download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/cmp.lmap_Msc.clip5.sbpd_rgb_r2r.tar)           | 7.74       | 0            | 14           | 62.4         |
cmp.lmap_Msc.clip5.sbpd_d_ST           | [ckpt](http://download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/cmp.lmap_Msc.clip5.sbpd_d_ST.tar)              | 10.67      | 9            | 19           | 39.7         |
cmp.lmap_Msc.clip5.sbpd_rgb_ST         | [ckpt](http://download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/cmp.lmap_Msc.clip5.sbpd_rgb_ST.tar)            | 11.27      | 10           | 19           | 35.6         |
cmp.lmap_Msc.clip5.sbpd_d_r2r_h0_64_80 | [ckpt](http:////download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/cmp.lmap_Msc.clip5.sbpd_d_r2r_h0_64_80.tar) | 11.6       | 0            | 19           | 66.9         |
bl.v2.noclip.sbpd_d_r2r                | [ckpt](http://download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/bl.v2.noclip.sbpd_d_r2r.tar)                   | 5.90       | 0            | 6            | 71.2         |
bl.v2.noclip.sbpd_rgb_r2r              | [ckpt](http://download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/bl.v2.noclip.sbpd_rgb_r2r.tar)                 | 10.21      | 1            | 21           | 53.4         |
bl.v2.noclip.sbpd_d_ST                 | [ckpt](http://download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/bl.v2.noclip.sbpd_d_ST.tar)                    | 13.29      | 14           | 23           | 28.0         |
bl.v2.noclip.sbpd_rgb_ST               | [ckpt](http://download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/bl.v2.noclip.sbpd_rgb_ST.tar)                  | 13.37      | 13           | 20           | 24.2         |
bl.v2.noclip.sbpd_d_r2r_h0_64_80       | [ckpt](http:////download.tensorflow.org/models/cognitive_mapping_and_planning/2017_04_16/bl.v2.noclip.sbpd_d_r2r_h0_64_80.tar)       | 15.30      | 0            | 29           | 57.9         |