Action-conditioned robot world model (FastWAM MoT: Wan2.1-T2V-1.3B video branch + action DiT), trained on DreamZero-DROID. This is the PhyPO run droidphypo1p3b (runs/droidwan211p3b1e-4/2026-09-0801-06-31) at step 100,000. The video DiT was initialized from the PhyPO/GRPO-finetuned Wan2.1-T2V-1.3B (Wan-AI-PhyPO-1.3B), and the action expert from ActionDiTphypoWan211p3Balphascale1024hdim.pt. This is not the stock Wan2.1 baseline (droid1p3bscratch). - step100000.pt — model weights (3.9 GB). Dict with keys mot, proprioencoder, step, torchdtype. - datasetstats.json — action/proprio normalization stats; required for inference. - The same checkpoint is also stored at…
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Angelzhang
angelic123
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Models on Hugging Face5
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Published tasks: Robotics.
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