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Wan2.2-TI2V-5B video DiT + 48-joint action head, trainingmode=joint. The base is suhyeok's finalized B-method recipe: a teacher-forced (sigma=0.25) self-EMA teacher plus an iBOT prototype loss at L18 L18, gamma=0.01, two-view.
By Hyeonmo Kang, published under apache-2.0, revision 1a678d25fbd9.
Wan2.2-TI2V-5B video DiT + 48-joint action head, trainingmode=joint. The base is suhyeok's finalized B-method recipe: a teacher-forced (sigma=0.25) self-EMA teacher plus an iBOT prototype loss at L18 L18, gamma=0.01, two-view. On top of it the 3 PAST cond latent frames are pooled into one motion frame before a chosen block. These are NOT the surrogate ctxpool runs. The surrogate line (older base, pd8 x GA1) lives in hmkang/wamctxpoolxattn and hmkang/wamctxpoolavg. Do not compare across the two sets. Geometry: 4-latin (numframesin=25, numframesout=41, fdf 2) = 4 cond + 2 future latent slots, 96 tokens per latent frame, 576 tokens per row. Effective batch 16 clips x GA 2 x 2 views = 64 rows…
Wan2.2-TI2V-5B video DiT + 48-joint action head, training_mode=joint. The base is suhyeok's finalized
B-method recipe: a teacher-forced (sigma=0.25) self-EMA teacher plus an iBOT prototype loss at L18<->L18,
gamma=0.01, two-view. On top of it the 3 PAST cond latent frames are pooled into one motion frame before a
chosen block.
These are NOT the surrogate ctxpool runs. The surrogate line (older base, pd8 x GA1) lives in
hmkang/wam_ctxpool_xattn and hmkang/wam_ctxpool_avg. Do not compare across the two sets.
| folder | pooling | plate |
|---|---|---|
xattn_ffn_L3/ |
cross-attn + FFN refine before block L3 | 4 GPU x pd4 x GA2, GC=0 |
avg_st_L3/ |
past pooled over time AND space -> 1 token, before L3 | same |
avg_L6/ |
past 3 latent frames averaged, before block L6 | same |
avg_L3/ |
past 3 latent frames averaged, before block L3 | same |
xattn_L3/ |
cross-attn (current queries the past, rope-aware, zero-init o), before L3, no FFN |
same |
lq_q96_L3/ |
96 LEARNABLE queries (no rope) cross-attend the past; current excluded from the kv | same |
lq_q48_L3/ |
same design, 48 slots — the compression axis (6x instead of 3x) | same |
control_3latin/ |
NO pooling, 3-latin geometry (cond 3 + future 2 = 480 tok/row) | same |
Geometry: 4-latin (num_frames_in=25, num_frames_out=41, fdf 2) = 4 cond + 2 future latent slots,
96 tokens per latent frame, 576 tokens per row. Effective batch 16 clips x GA 2 x 2 views = 64 rows,
the same plate the base run uses via pd8 x GA1.
WAM_DINO_GA_AWARE=1 makes the iBOT center and the teacher-head EMA fire once per optimizer step, which is
what makes GA=2 the same experiment as GA=1 at twice the per-device batch. deepspeed 0.19.6.
Every 20k steps. Weights + configs only (no optimizer state). Code: https://github.com/HEMMO0208/wam
(branch ctxpool-bmethod; gr00t/model/wam_dit4dit/wan22_ctxpool.py).
811 files, 1.2 TB in total. The weights are 252 files totalling 1.2 TB in safetensors.
| File | Type | Size | SHA-256 |
|---|---|---|---|
| avg_L3/checkpoint-100000/model-00001-of-00007.safetensors | Weights | 4.9 GB | aadc12b25e5f |
| avg_L3/checkpoint-100000/model-00002-of-00007.safetensors | Weights | 5.0 GB | dc2d63720f80 |
| avg_L3/checkpoint-100000/model-00003-of-00007.safetensors | Weights | 5.0 GB | b6d17e552937 |
| avg_L3/checkpoint-100000/model-00004-of-00007.safetensors | Weights | 5.0 GB | d2e816d3a878 |
| avg_L3/checkpoint-100000/model-00005-of-00007.safetensors | Weights | 4.8 GB | ba529da785b2 |
| avg_L3/checkpoint-100000/model-00006-of-00007.safetensors | Weights | 5.0 GB | 9a393cf8436c |
| avg_L3/checkpoint-100000/model-00007-of-00007.safetensors | Weights | 2.9 GB | 921f5f80da43 |
| avg_L3/checkpoint-20000/model-00001-of-00007.safetensors | Weights | 4.9 GB | 3811874639b4 |
| avg_L3/checkpoint-20000/model-00002-of-00007.safetensors | Weights | 5.0 GB | d576b98305f5 |
| avg_L3/checkpoint-20000/model-00003-of-00007.safetensors | Weights | 5.0 GB | b3eeb5c1e0a1 |
| avg_L3/checkpoint-20000/model-00004-of-00007.safetensors | Weights | 5.0 GB | 1870609a4b1f |
| avg_L3/checkpoint-20000/model-00005-of-00007.safetensors | Weights | 4.8 GB | ff4a445d4b7c |
| avg_L3/checkpoint-20000/model-00006-of-00007.safetensors | Weights | 5.0 GB | 34f3636cc029 |
| avg_L3/checkpoint-20000/model-00007-of-00007.safetensors | Weights | 2.9 GB | ff4667334807 |
| avg_L3/checkpoint-40000/model-00001-of-00007.safetensors | Weights | 4.9 GB | 4c1f889831c4 |
| avg_L3/checkpoint-40000/model-00002-of-00007.safetensors | Weights | 5.0 GB | 4f4492b08bd6 |
| avg_L3/checkpoint-40000/model-00003-of-00007.safetensors | Weights | 5.0 GB | 03395a0f3152 |
| avg_L3/checkpoint-40000/model-00004-of-00007.safetensors | Weights | 5.0 GB | 7453a1cac7b1 |
| avg_L3/checkpoint-40000/model-00005-of-00007.safetensors | Weights | 4.8 GB | aadd56338297 |
| avg_L3/checkpoint-40000/model-00006-of-00007.safetensors | Weights | 5.0 GB | 504d3d882d2c |
| avg_L3/checkpoint-40000/model-00007-of-00007.safetensors | Weights | 2.9 GB | f28aaadd21b8 |
| avg_L3/checkpoint-60000/model-00001-of-00007.safetensors | Weights | 4.9 GB | bb767a350da5 |
| avg_L3/checkpoint-60000/model-00002-of-00007.safetensors | Weights | 5.0 GB | 6b564b5ab8b0 |
| avg_L3/checkpoint-60000/model-00003-of-00007.safetensors | Weights | 5.0 GB | b9d5cd764981 |
| avg_L3/checkpoint-60000/model-00004-of-00007.safetensors | Weights | 5.0 GB | 04a3a1a626a0 |
| avg_L3/checkpoint-60000/model-00005-of-00007.safetensors | Weights | 4.8 GB | 665f65752028 |
| avg_L3/checkpoint-60000/model-00006-of-00007.safetensors | Weights | 5.0 GB | 0510cf7b99f8 |
| avg_L3/checkpoint-60000/model-00007-of-00007.safetensors | Weights | 2.9 GB | 97df15881958 |
| avg_L3/checkpoint-80000/model-00001-of-00007.safetensors | Weights | 4.9 GB | 0e1a00e03968 |
| avg_L3/checkpoint-80000/model-00002-of-00007.safetensors | Weights | 5.0 GB | 4450da0c7209 |
| avg_L3/checkpoint-80000/model-00003-of-00007.safetensors | Weights | 5.0 GB | ecdc9fef2f24 |
| avg_L3/checkpoint-80000/model-00004-of-00007.safetensors | Weights | 5.0 GB | f43cf54c74c3 |
| avg_L3/checkpoint-80000/model-00005-of-00007.safetensors | Weights | 4.8 GB | 2b8fc4bbe7cf |
| avg_L3/checkpoint-80000/model-00006-of-00007.safetensors | Weights | 5.0 GB | 714d78ba9173 |
| avg_L3/checkpoint-80000/model-00007-of-00007.safetensors | Weights | 2.9 GB | 37dd0a63f0b9 |
| avg_L6/checkpoint-100000/model-00001-of-00007.safetensors | Weights | 4.9 GB | 7efdc0a79b76 |
| avg_L6/checkpoint-100000/model-00002-of-00007.safetensors | Weights | 5.0 GB | 26026e0ee117 |
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| avg_L6/checkpoint-100000/model-00005-of-00007.safetensors | Weights | 4.8 GB | a6d06e31f96f |
| avg_L6/checkpoint-100000/model-00006-of-00007.safetensors | Weights | 5.0 GB | d0a2c34e90ba |
| avg_L6/checkpoint-100000/model-00007-of-00007.safetensors | Weights | 2.9 GB | 051b000a253f |
| avg_L6/checkpoint-20000/model-00001-of-00007.safetensors | Weights | 4.9 GB | d2b50bdeadd8 |
| avg_L6/checkpoint-20000/model-00002-of-00007.safetensors | Weights | 5.0 GB | 2e67a582017f |
| avg_L6/checkpoint-20000/model-00003-of-00007.safetensors | Weights | 5.0 GB | 7966ef66322b |
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| avg_st_L3/checkpoint-40000/model-00001-of-00007.safetensors | Weights | 4.9 GB | b2c4583b653b |
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| control_3latin/checkpoint-40000/model-00001-of-00007.safetensors | Weights | 4.9 GB | 9478c168a63f |
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| control_3latin/checkpoint-60000/model-00007-of-00007.safetensors | Weights | 2.9 GB | 073178915b31 |
| lq_q48_L3/checkpoint-20000/model-00001-of-00007.safetensors | Weights | 4.9 GB | 089ff933b5ba |
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| lq_q48_L3/checkpoint-40000/model-00001-of-00007.safetensors | Weights | 4.9 GB | 76bdbce3e166 |
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| lq_q48_L3/checkpoint-60000/model-00003-of-00007.safetensors | Weights | 4.9 GB | 4c65a5d70f3a |
| lq_q48_L3/checkpoint-60000/model-00004-of-00007.safetensors | Weights | 5.0 GB | f2c0443ae0a0 |
| lq_q48_L3/checkpoint-60000/model-00005-of-00007.safetensors | Weights | 4.8 GB | 0b3c4c5b03f6 |
| lq_q48_L3/checkpoint-60000/model-00006-of-00007.safetensors | Weights | 5.0 GB | 8ba00a89db6c |
| lq_q48_L3/checkpoint-60000/model-00007-of-00007.safetensors | Weights | 3.2 GB | c0ac8b1493c8 |
| lq_q48_L3/checkpoint-80000/model-00001-of-00007.safetensors | Weights | 4.9 GB | 0b61a30e67db |
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| lq_q48_L3/checkpoint-80000/model-00007-of-00007.safetensors | Weights | 3.2 GB | 2dbbef6c8313 |
| lq_q96_L3/checkpoint-100000/model-00001-of-00007.safetensors | Weights | 4.9 GB | c470004f5448 |
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| lq_q48_L3/checkpoint-20000/zero_to_fp32.py | Configuration | 34.9 KB | — |
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| lq_q48_L3/checkpoint-40000/experiment_cfg/final_model_config.json | Configuration | 5.1 KB | — |
| lq_q48_L3/checkpoint-40000/model.safetensors.index.json | Configuration | 259.0 KB | — |
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| lq_q48_L3/checkpoint-40000/statistics.json | Configuration | 6.2 KB | — |
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| lq_q48_L3/checkpoint-40000/wandb_config.json | Configuration | 112 B | — |
| lq_q48_L3/checkpoint-40000/zero_to_fp32.py | Configuration | 34.9 KB | — |
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| lq_q48_L3/checkpoint-60000/model.safetensors.index.json | Configuration | 259.0 KB | — |
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| lq_q48_L3/checkpoint-60000/zero_to_fp32.py | Configuration | 34.9 KB | — |
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| lq_q48_L3/checkpoint-80000/model.safetensors.index.json | Configuration | 259.0 KB | — |
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| lq_q48_L3/checkpoint-80000/trainer_state.json | Configuration | 13.5 MB | 62a2c7d338f8 |
| lq_q48_L3/checkpoint-80000/wandb_config.json | Configuration | 112 B | — |
| lq_q48_L3/checkpoint-80000/zero_to_fp32.py | Configuration | 34.9 KB | — |
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| lq_q96_L3/checkpoint-100000/model.safetensors.index.json | Configuration | 259.0 KB | — |
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| lq_q96_L3/checkpoint-100000/wandb_config.json | Configuration | 112 B | — |
| lq_q96_L3/checkpoint-100000/zero_to_fp32.py | Configuration | 34.9 KB | — |
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| lq_q96_L3/checkpoint-20000/experiment_cfg/final_model_config.json | Configuration | 5.1 KB | — |
| lq_q96_L3/checkpoint-20000/model.safetensors.index.json | Configuration | 259.0 KB | — |
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| lq_q96_L3/checkpoint-20000/wandb_config.json | Configuration | 112 B | — |
| lq_q96_L3/checkpoint-20000/zero_to_fp32.py | Configuration | 34.9 KB | — |
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| lq_q96_L3/checkpoint-40000/model.safetensors.index.json | Configuration | 259.0 KB | — |
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| lq_q96_L3/checkpoint-40000/wandb_config.json | Configuration | 112 B | — |
| lq_q96_L3/checkpoint-40000/zero_to_fp32.py | Configuration | 34.9 KB | — |
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| lq_q96_L3/checkpoint-60000/experiment_cfg/final_model_config.json | Configuration | 5.1 KB | — |
| lq_q96_L3/checkpoint-60000/model.safetensors.index.json | Configuration | 259.0 KB | — |
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| lq_q96_L3/checkpoint-60000/zero_to_fp32.py | Configuration | 34.9 KB | — |
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| lq_q96_L3/checkpoint-80000/wandb_config.json | Configuration | 112 B | — |
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| xattn_ffn_L3/checkpoint-60000/wandb_config.json | Configuration | 115 B | — |
| xattn_ffn_L3/checkpoint-60000/zero_to_fp32.py | Configuration | 34.9 KB | — |
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| xattn_ffn_L3/checkpoint-80000/zero_to_fp32.py | Configuration | 34.9 KB | — |
| README.md | Documentation | 2.1 KB | — |
| avg_L3/eval/checkpoint-60000/nas16/CloseDoubleDoor_PandaOmron_Env/simulation_results.csv | Other | 4.7 KB | — |
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Released by Hyeonmo Kang through its official repository on Hugging Face. Read the license.
| Precision | Weights in memory |
|---|---|
| As published | 1.2 TB |
Weights only, from the published parameter count; the key-value cache and runtime add to this.
Yes. wam_ctxpool_bmethod is released under Apache License 2.0. The Apache License 2.0 is a permissive open-source license. It permits commercial use, modification and redistribution. It requires keeping the license and copyright notices and any NOTICE file, stating significant changes, and it includes an express patent grant from contributors.
LIBERO 4in1（liberospatial / liberoobject / liberogoal / libero10）共 53.19 GB 的 Wan2.2-VAE 编码 latent 缓存： 训练 LIBERO policy（action head / VLA）时直接读取 latent 缓存，避免重复 VAE 编码。 - 窗口模式: windowed（--windowed） - 输出:.pt 文件，每 episode 一个 - dataset（推荐）: https://huggingface.co/datasets/MangoGoes/libero4in1wan2.2vaelatentdataset - model（本仓库）: https://huggingface.co/MangoGoes/libero4in1wan2.2vaelatentcosmosstyle
weighted/imatrix quants of https://huggingface.co/DeepCybo/PhysBrain1.5-8B For a convenient overview and download list, visit our model page for this model. static quants are available at https://huggingface.co/mradermacher/PhysBrain1.5-8B-GGUF This is a vision model - mmproj files (if any) will be in the static repository. If you are unsure how to use GGUF files, refer to one of TheBloke's READMEs for more details, including on how to concatenate multi-part files. (sorted by size, not necessarily quality. IQ-quants are often preferable over similar sized non-IQ quants) Here is a handy graph by ikawrakow comparing some lower-quality quant And here are Artefact2's thoughts on the matter…
This repository contains checkpoints and evaluation artifacts for GR00T fine-tuning. Each epoch folder is a separate model checkpoint; the repository root is an index. - Same 50 total LIBERO Spatial trajectories for every version (5,971 frames). - Vision encoder, language model, and the full action head/DiT are trainable. - Eight epochs maximum; 125 optimizer updates per epoch. - Every epoch checkpoint is uploaded and hash-verified before local weight eviction. - Every checkpoint is evaluated on all ten Spatial tasks, with 50 fixed initial states per task: 500 rollouts. - Success-rate plots use completed simulator evaluations, not training losses. Checkpoints and evaluations appear as the…
本仓保存 RoboTwin 实测模型、TDAA codec、原始结果和 4,000 个视频。 在 FastWAM 中接入预训练 TDAA version3bin24 编解码器，将 [32,14] 动作块编码为 [8,16] latent。策略在 latent 空间做 flow matching，再解码为 32 步绝对关节动作。decoder 使用任务向量和由已执行动作历史的 DCT24 特征生成的 phase；每个 episode 重置历史。 frozen 控制整个 TDAA codec，FastWAM 策略仍参与训练。联合训练额外加入动作重构与进度预测损失。动作 token 从 32 个变为 8 个，仅表示动作表示压缩；本次没有端到端加速测量。 - TDAA codec 与配置：codec.pt、config.json、metadata.json、datasetstatistics.json、taskembeddings.json，来自 80,000 步 AE。 代码仓的下载工具按固定版本获取文件并校验 SHA-256。在代码仓安装环境后运行： 权重保存到 checkpoints/released/{official,tdaafrozen}/step002725.pt。Wan VAE/T5/tokenizer 等基础模型、训练数据和 RoboTwin 仿真资产需另外准备，详见 GitHub 复现说明。本次不包含 optimizer/scheduler 完整训练状态。 以下为 FastWAM 基线与 TDAA Frozen=True 两组实测训练的共同设置，已与各自保存的…
LeRobot policy checkpoints uploaded by goalgen/uploadhfcheckpoints.sh. Each subfolder contains the deployment-ready pretrainedmodel/ payload (model.safetensors + config.json + pre/postprocessor + trainconfig.json).
SOMA (Unifying Parametric Human Body Models) is a unified framework that decouples identity representation from pose parameterization by mapping supported parametric models to canonical body and hand topologies and skeletons, enabling shared Linear Blend Skinning (LBS) pipelines across backends. The full-body layer supports six identity backends (SOMA-shape, SMPL, SMPL-X, MHR, ANNY, and GarmentMeasurements). SOMA-X v0.3 also includes wrist-local left/right hand layers with native SOMA identity and articulation priors plus interoperability with user-supplied MANO models. This model is ready for commercial use. SOMA is released under the Global SOMA is intended for use by computer vision…
