| --- |
| license: mit |
| library_name: pytorch |
| tags: |
| - robotics |
| - streamingwam |
| - real-world |
| tasks: |
| - robotics |
| --- |
| |
| # StreamingWAM real-world checkpoint |
|
|
| This repository contains the StreamingWAM checkpoint used for the seven-task |
| Franka real-robot evaluation. It is separate from the |
| [LIBERO simulation checkpoint](https://huggingface.co/rsj2003/StreamingWAM-LIBERO) |
| and the [real-world demonstration dataset](https://huggingface.co/datasets/rsj2003/StreamingWAM-RealWorld). |
|
|
| ## Files |
|
|
| - `streamingwam_realworld.pt`: complete model weights (one file); |
| - `streamingwam-realworld-runtime-assets.tar.gz`: normalization statistics and cached embeddings for the seven task prompts; |
| - `streamingwam_realworld_model.yaml`: model-only deployment configuration; |
| - `checkpoint_info.json` and `SHA256SUMS`: artifact metadata and integrity checks. |
|
|
| The runtime archive contains `train_split_zscore_stats.json` and |
| `text_embeds_cache/`. No training logs or optimizer artifacts are added. |
|
|
| The matching implementation and model-only deployment configuration are in |
| the public [StreamingWAM repository](https://github.com/renshaojie233/StreamingWAM/tree/main/real_robot). |
|
|
| ## Download and use |
|
|
| From the [StreamingWAM code repository](https://github.com/renshaojie233/StreamingWAM): |
|
|
| ```bash |
| python real_robot/download_assets.py --output checkpoints/streamingwam-realworld |
| ``` |
|
|
| The downloader verifies SHA-256 checksums and installs the checkpoint locally |
| as `step_030000.pt` for compatibility with the existing runtime. See the |
| [real-robot setup guide](https://github.com/renshaojie233/StreamingWAM/tree/main/real_robot) |
| for observation preprocessing, shadow-mode inference, and hardware integration. |
|
|
| ## Contract |
|
|
| - control frequency: 15 Hz; |
| - cameras: `camera_1`, `camera_3`, `camera_2`; |
| - each camera: RGB `224 x 128`, vertically concatenated to `3 x 384 x 224`; |
| - image history: five consecutive frames; |
| - action prefix: sixteen actually executed native actions; |
| - output: sixteen future actions of dimension eight; |
| - arm action: `(q[t+1] - q[t]) / 0.2`; |
| - gripper action/state: continuous absolute command, `0=closed`, `1=open`; |
| - initial warm start: ten denoising steps; |
| - rolling update: one denoising substep; |
| - supported trained replanning horizons: `K={1,2,4,8,10}`. |
|
|
| The released checkpoint is the standard model, not a latency-shift fine-tune. |
| No transition blending or trajectory smoothing is part of the model artifact. |
|
|
| ## Integrity |
|
|
| `streamingwam_realworld.pt` is 12,041,739,641 bytes and has SHA-256: |
|
|
| ```text |
| ed68b39a9d7025188e6216a9336a3e265893d360b0c02b91f31629c317d1f66a |
| ``` |
|
|
| The Wan 2.2 TI2V 5B base model is not redistributed and must be obtained under |
| its original license. |
|
|
