| --- |
| license: apache-2.0 |
| library_name: starvla |
| tags: |
| - robotics |
| - vision-language-action |
| - world-model |
| - robodojo |
| base_model: |
| - Wan-AI/Wan2.2-TI2V-5B-Diffusers |
| - google/umt5-xxl |
| --- |
| |
| # Ego4WAM-Joint |
|
|
| Released weights for the Joint variant of Ego4WAM. |
|
|
| ## Contents |
|
|
| | File | Size | Description | |
| | --- | ---: | --- | |
| | `model.safetensors` | 25.07 GiB | 2,092 BF16 tensors containing the complete framework state dict | |
| | `inference_config.yaml` | <1 KiB | Minimal model selection: `Ego4WAM` with `interaction_mode: joint` | |
| | `model_assets/` | 20.46 MiB | VAE/text-encoder configs and the UMT5 tokenizer required for offline construction | |
| | `LICENSE` | | Apache-2.0 license for the released weights | |
|
|
| The checkpoint contains the Video DiT, VAE, UMT5 text encoder, Action DiT, and |
| proprioceptive encoder weights. No additional backbone weights are downloaded |
| when loading this release. |
|
|
|
|
| ## Loading |
|
|
| ```python |
| from huggingface_hub import snapshot_download |
| |
| from starVLA.model.framework.base_framework import baseframework |
| |
| root = snapshot_download("HorizonRobotics/Ego4WAM") |
| model = baseframework.from_pretrained(f"{root}/model.safetensors") |
| ``` |
|
|
| This constructs the framework from `inference_config.yaml`, resolves the local |
| files in `model_assets/`, and loads the state dict with `strict=True`. |
|
|
| ## Model geometry |
|
|
| | | | |
| | --- | --- | |
| | Tensors / dtype | 2,092 / BF16 | |
| | Parameters | 13,456,608,092 | |
| | State-dict prefixes | `backbone.` 1,266; `action_model.` 824; `proprio_encoder.` 2 | |
| | Interaction mode | Joint synchronous video/action attention | |
| | State / action dimension | 32 / 32 | |
| | Action horizon | 32 | |
| | RoboDojo execution output | First 14 dimensions after inverse normalization | |
| | MoT | 30 layers; video hidden size 3,072; action hidden size 1,024 | |
| | Sampling | 20-step Euler flow matching | |
| | Camera input | Head, left wrist, and right wrist RGB views | |
|
|
| The SHA-256 digest of `model.safetensors` is: |
|
|
| ```text |
| ae1b4595e1909e4573ad3214e1c5112f1920a34675340f6adfd4f2e9ec6c12c4 |
| ``` |
|
|
| ## License and attribution |
|
|
| The released weights are provided under Apache-2.0. Ego4WAM source code is |
| provided under MIT. Ego4WAM builds on StarVLA and uses Wan2.2 TI2V-5B and |
| UMT5-XXL components; retain the corresponding upstream attribution when |
| redistributing derivative work. |
|
|
