SemWAM RoboTwin Full v1
SemWAM checkpoint for RoboTwin. This repository contains an intermediate model snapshot and the configuration and normalization statistics needed for inference.
Checkpoint
- Version: v1
- Optimizer step: 95,564
- Completed epochs at this snapshot: 4
- Status: intermediate checkpoint; the full training run is still in progress at publication.
- Checkpoint format: v2
- Weight file:
checkpoints/weights/step_095564.pt
The selected checkpoint, saved model contract, matching normalization statistics, tensor finite values and complete save for this step were verified before publication. Publication does not establish closed-loop benchmark performance.
Files
| File | Purpose |
|---|---|
checkpoints/weights/step_095564.pt |
Model weights, including the frozen semantic compressor |
inference_config.json |
Saved inference contract |
config.yaml |
Inference configuration reconstructed from the saved contract |
dataset_stats.json |
Matching action and state normalization statistics |
checkpoint_manifest.json |
File identities and checksums |
model_card_summary.json |
Machine-readable model summary |
trainer_state.reference.json |
Step and inference reference |
Restoration
Use the SemWAM runtime to restore the saved v2 contract before constructing the model and loading its weights. Use the supplied normalization statistics and external frozen assets matching the saved identities. Required external asset hashes are listed in checkpoint_manifest.json.
Preserve the observation preprocessing, camera geometry and action/state normalization stored in this package. The semantic compressor is embedded in the checkpoint. External frozen assets must match the saved hashes.
Integrity
- Weight SHA256:
d254e7641fd08b19bd9627dc00a8325ee3b53ab6161c45adaf586b1ff69f9e1b - Statistics SHA256:
32b0b1e84c7ba6d62b588aef5c06ba527350ebe0a19849c377a29daf10562851 - Package verification time (UTC):
2026-11-12T11:41:45.967768+00:00
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