Add model card (RoboTwin flow-action IDM checkpoint + inference config)

README.md

@@ -1,3 +1,64 @@
----
-license: apache-2.0
----
+---
+license: apache-2.0
+library_name: diffsynth
+pipeline_tag: robotics
+tags:
+- robotics
+- manipulation
+- robotwin
+- world-model
+- flow-matching
+- imitation-learning
+---
+
+# FlowWAM
+
+Checkpoints for **FlowWAM** — a dual-stream (RGB + optical-flow) Wan2.2 world
+model paired with an IDM action expert for RoboTwin dual-arm manipulation.
+
+- **Code:** https://github.com/YixiangChen515/FlowWAM
+- **Dataset:** https://huggingface.co/datasets/YixiangChen/FlowWAM_RoboTwin
+
+## Files
+
+| File | Description |
+|------|-------------|
+| `flowwam_robotwin.safetensors` | RoboTwin dual-stream flow-action **IDM** checkpoint (video DiT + flow_stream + action expert). |
+| `flowwam_robotwin_action_norm_stats.npz` | 14-D action normalization stats (mean/std). **Required for inference.** |
+| `flowwam_worldarena_stage1.safetensors` | FlowWAM WorldArena world-model checkpoint. |
+
+## RoboTwin flow-action IDM checkpoint
+
+`flowwam_robotwin.safetensors` jointly denoises an RGB stream and a head-camera
+optical-flow stream, and predicts a 14-D dual-arm action chunk by cross-attending
+to the video DiT's per-layer hidden states. It is trained on the RoboTwin 2.0
+`aloha-agilex` demonstrations (see the dataset repo above).
+
+### Inference
+
+Keep `flowwam_robotwin.safetensors` and `flowwam_robotwin_action_norm_stats.npz`
+**in the same folder** — the server derives the norm-stats path from the
+checkpoint path. The decoding config must match the training config:
+
+| Setting | Value |
+|---|---|
+| `num_frames` | 33 |
+| `num_video_frames` | 9 |
+| `num_action_layers` | 30 |
+| `action_pred_target` | velocity |
+| `action_pos_mode` | rope |
+| `proprio_mode` | text |
+| `action_snr_shift` | 5.0 |
+| `action_dim` | 14 |
+
+```bash
+# From the FlowWAM code repo (https://github.com/YixiangChen515/FlowWAM)
+cd inference
+CHECKPOINT=/path/to/flowwam_robotwin.safetensors bash start_server.sh
+```
+
+See the code repo's `inference/README.md` for the full RoboTwin evaluation setup.
+
+## License
+
+Released under the Apache-2.0 License.