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Open-weight model · Image to image

ViGAR

by DAGroup-PKU DAGroup-PKU/ViGAR

ViGAR is an open-weight model for image to image from DAGroup-PKU, released under other. Its published files total 63.5 GB.

Rethinking World-Action Model for Compositional and In-context Robotic Manipulation This repository contains the selected RoboTwin action-policy and image-goal planner inference weights.

Parameters—
Context—
Weights2.8 GB
Licenseother
AccessOpen weights
Monthly Downloads—

Model Card

Rethinking World-Action Model for Compositional and In-context Robotic Manipulation This repository contains the selected RoboTwin action-policy and image-goal planner inference weights. The planner lineage is normal 30k EMA → 40k ROI updates → continuation to ROI step70k. Its complete history is approximately100k optimizer updates. It uses no I2I skipping (nextsubgoaltailfraction=0). The ROI/background loss ratio is4:1; expert geometry is used only to construct training-loss weights. Use the native runtime and launchers in the code repository. These are PyTorch Distributed Checkpoint (DCP) files, not an AutoModel.frompretrained or Diffusers pipeline export. Keep each model's.metadata and…

Excerpt from the card by DAGroup-PKU, licensed other.

Identity and Version

Repository
DAGroup-PKU/ViGAR
Publisher
DAGroup-PKU
Task
Image to image
Modality
Image
Library
pytorch
Parameters
Not stated by the source
Languages
Not stated by the source
Revision
b598ca3e7a1d2244544ce3a8d4b94f86b67cd814
First published
2026-10-01
Last updated
2026-10-03

Files and Weights

42 files, 63.5 GB in total. The weights are 1 file totalling 2.8 GB in pth.

Weights1 file · 2.8 GB
Configuration14 files · 448.0 KB
Tokenizer4 files · 11.5 MB
Documentation4 files · 19.5 KB
Other16 files · 60.7 GB
Repository3 files · 1.6 MB
Every file
FileTypeSizeSHA-256
robotwin/skipping_colorjitter/iter_000050000/vae/Wan2.2_VAE.pthWeights2.8 GB 20eb789667fa
SHA256SUMS.jsonConfiguration7.3 KB —
i2i/roi/iter_000070000/inference_config.jsonConfiguration350 B —
release_config.jsonConfiguration227 B —
robotwin/skipping_colorjitter/iter_000050000/architecture/Qwen3-VL-8B-Instruct.jsonConfiguration1.5 KB —
robotwin/skipping_colorjitter/iter_000050000/bundle_manifest.jsonConfiguration3.0 KB —
robotwin/skipping_colorjitter/iter_000050000/complete.jsonConfiguration156 B —
robotwin/skipping_colorjitter/iter_000050000/config.jsonConfiguration12.2 KB —
robotwin/skipping_colorjitter/iter_000050000/data_contract.jsonConfiguration388.2 KB —
robotwin/skipping_colorjitter/iter_000050000/normalizer.jsonConfiguration19.6 KB —
robotwin/skipping_colorjitter/iter_000050000/recipe_config.jsonConfiguration1.3 KB —
robotwin/skipping_colorjitter/iter_000050000/text_tokenizer/chat_template.jsonConfiguration5.5 KB —
robotwin/skipping_colorjitter/iter_000050000/text_tokenizer/config.jsonConfiguration8.2 KB —
robotwin/skipping_colorjitter/iter_000050000/text_tokenizer/preprocessor_config.jsonConfiguration390 B —
robotwin/skipping_colorjitter/iter_000050000/text_tokenizer/video_preprocessor_config.jsonConfiguration385 B —
LICENSEDocumentation2.7 KB —
NOTICEDocumentation1.9 KB —
README.mdDocumentation3.6 KB —
licenses/Wan2.2-LICENSE.txtDocumentation11.4 KB —
i2i/roi/iter_000070000/model/__0_0.distcpOther3.8 GB 9e99c45846e1
i2i/roi/iter_000070000/model/__1_0.distcpOther3.8 GB de74aaa995c4
i2i/roi/iter_000070000/model/__2_0.distcpOther3.8 GB 86a2710db5a1
i2i/roi/iter_000070000/model/__3_0.distcpOther3.8 GB 762865436e20
i2i/roi/iter_000070000/model/__4_0.distcpOther3.8 GB f5f44a557ec4
i2i/roi/iter_000070000/model/__5_0.distcpOther3.8 GB 013a8adabf19
i2i/roi/iter_000070000/model/__6_0.distcpOther3.8 GB b86d64d765af
i2i/roi/iter_000070000/model/__7_0.distcpOther3.8 GB fd94bd37686b
robotwin/skipping_colorjitter/iter_000050000/model/__0_0.distcpOther3.8 GB c34ee68f77cf
robotwin/skipping_colorjitter/iter_000050000/model/__0_1.distcpOther3.8 GB 8e1e3fb94d03
robotwin/skipping_colorjitter/iter_000050000/model/__0_2.distcpOther3.8 GB c3b6e72958eb
robotwin/skipping_colorjitter/iter_000050000/model/__0_3.distcpOther3.8 GB af1562b12cfa
robotwin/skipping_colorjitter/iter_000050000/model/__0_4.distcpOther3.8 GB 4e0b3996ef40
robotwin/skipping_colorjitter/iter_000050000/model/__0_5.distcpOther3.8 GB 231e522980f7
robotwin/skipping_colorjitter/iter_000050000/model/__0_6.distcpOther3.8 GB 0e7e6c1ebe59
robotwin/skipping_colorjitter/iter_000050000/model/__0_7.distcpOther3.8 GB 03d2b5297308
.gitattributesRepository3.1 KB —
i2i/roi/iter_000070000/model/.metadataRepository1.4 MB 6e5307e05ec1
robotwin/skipping_colorjitter/iter_000050000/model/.metadataRepository208.3 KB 02d545710261
robotwin/skipping_colorjitter/iter_000050000/text_tokenizer/merges.txtTokenizer1.7 MB —
robotwin/skipping_colorjitter/iter_000050000/text_tokenizer/tokenizer.jsonTokenizer7.0 MB —
robotwin/skipping_colorjitter/iter_000050000/text_tokenizer/tokenizer_config.jsonTokenizer10.9 KB —
robotwin/skipping_colorjitter/iter_000050000/text_tokenizer/vocab.jsonTokenizer2.8 MB —

License and Download

License
other
Access
Open weights, no gate
Download size
2.8 GB
Download from DAGroup-PKU

Released by DAGroup-PKU through its official repository on Hugging Face.

Memory Requirements

PrecisionWeights in memory
As published2.8 GB

Weights only, from the published parameter count; the key-value cache and runtime add to this.

Questions About ViGAR

What license is ViGAR released under?

other, as its publisher declares it. Read the license text before commercial use.

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