DynamicWAM

Official DynamicWAM checkpoints for DOMINO manipulation. This repository is organized by paper-facing model variant; each checkpoint is paired with its action-normalization statistics and immutable configuration snapshots.

Released variants

Paper name	Checkpoint	Motion conditioning	DOMINO Level 1
DynamicWAM (w/o motion)	checkpoints/dynamicwam_wo_motion/model.pt	Four history Flow-RGB intervals; no explicit absolute-motion descriptor tokens	953/3,500, SR 27.23%, MS 41.6244
DynamicWAM	checkpoints/dynamicwam/model.pt	History Flow RGB + exact-time absolute-motion descriptors	1,337/3,500, SR 38.20%, MS 53.16

“w/o motion” refers specifically to removing the explicit numeric absolute-motion/kinematic descriptor branch. It does not mean that optical flow is removed: the variant still consumes history Flow RGB.

The reported numbers are the archived 35-task × 100-episode DOMINO Level 1 system results. They are not a newly rerun benchmark and should not be interpreted as a matched one-variable causal estimate beyond the named model variants.

Repository layout

checkpoints/
├── dynamicwam_wo_motion/
│   ├── model.pt
│   └── action_stats.json
└── dynamicwam/
    ├── model.pt
    └── action_stats.json
configs/
├── dynamicwam_wo_motion/
│   ├── stage1_video.yaml
│   ├── stage2_action.yaml
│   ├── stage3_joint.yaml
│   └── deploy.yaml
└── dynamicwam/
    └── absolute_motion_v2.yaml
MODEL_MANIFEST.json
SHA256SUMS

The dynamicwam_wo_motion YAML files are exact historical configuration snapshots and therefore retain their original cluster paths. Remap those paths to your local checkout and downloaded assets before training or evaluation.

Download

hf download KhalilGao/DynamicWAM \
  --include "checkpoints/dynamicwam_wo_motion/*" \
  --include "configs/dynamicwam_wo_motion/*" \
  --local-dir external/DynamicWAM

The matching packed training corpus is published at KhalilGao/DynamicWAM-data under dynamicwam_wo_motion/.

Checkpoint identity

Variant	Global step	Size (bytes)	SHA-256
DynamicWAM (w/o motion)	40,000	1,976,638,827	fa88a1f33f2205db5a4534e09bb02d1bee9dea7b2049299ac68932a34de82f03
DynamicWAM	40,000	1,977,857,939	7c0dfc44a785ea1f6bd1f833f09dcadc2e470dadb1ba5508fa98918e147671d7

Both are native PyTorch checkpoint dictionaries. As with any pickle-backed PyTorch artifact, load them only from a trusted revision and verify the hashes in SHA256SUMS first.

External assets

The checkpoints do not bundle Wan2.2-TI2V-5B, its tokenizer/VAE, the DOMINO runtime, CuRobo, or simulator assets. See the DynamicWAM source repository for environment and evaluation setup.

License

Project-owned release material is provided under Apache-2.0. Upstream assets retain their own licenses; this repository does not relicense or redistribute the external runtime dependencies listed above.