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fast-wam
Two Piper real-EEF FastWAM checkpoints, each packed with the code used to train it and an inference entry.
| Archive | Checkpoint | Initialization |
|---|---|---|
fastwam-piper-real-eef-step10000.tar |
step 10000 | official robotwin_uncond_3cam_384.pt, action head reinitialized for 16-D EEF |
fastwam-from-clean100k-step10000.tar |
step 10000 | RoboTwin clean front-ROI step_100000, strict load, then real-EEF fine-tune with video loss |
Each archive contains checkpoints/step_010000.pt, code/, config.yaml, normalization.json, inference/eef_policy.py, and pretrained/Wan2.2-TI2V-5B (Wan2.2_VAE.pth, models_t5_umt5-xxl-enc-bf16.pth, google/umt5-xxl).
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