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ZeroWAM_RC49 is a model for robotics from Louis Dai, released under Apache License 2.0 (access requested at publisher). Its published files total 41.0 MB.
This repo is a post-training of Zero-WAM (zero-wam-pretrain, 10.8B) on 49 RoboCasa atomic tasks. The only task signal is a prompt video: the model never sees language, in training or at eval.
By Louis Dai, published under apache-2.0, revision a33862e8e5d1.
This repo is a post-training of Zero-WAM (zero-wam-pretrain, 10.8B) on 49 RoboCasa atomic tasks. The only task signal is a prompt video: the model never sees language, in training or at eval. The prompt is a video of the same task, taken from a different episode and a different scene. Everything in this repo was produced in a single run. All files are uncompressed (stored) zip archives. Full write-ups are inside results.zip: - report.md: overview of the experiment and its results. - reportpipeline.md: detailed record of how the data-conversion and training pipelines were built. Online, randomized RoboCasa target-split scenes, with prompt videos generated live by MimicGen. 10 scenarios per…
This repo is a post-training of Zero-WAM (zero-wam-pretrain, 10.8B) on 49 RoboCasa atomic tasks. The only task signal is a prompt video: the model never sees language, in training or at eval. The prompt is a video of the same task, taken from a different episode and a different scene.
Everything in this repo was produced in a single run. All files are uncompressed (stored) zip archives. Full write-ups are inside results.zip:
report.md: overview of the experiment and its results.report_pipeline.md: detailed record of how the data-conversion and training pipelines were built.| File | Contents |
|---|---|
code.zip |
rc_zwam/ (conversion, dataset build, latent encoding, pairing, eval client/launcher, online MimicGen prompt producer, tests, selection manifests) and zero_wam_changes/ (git patch and modified/new Zero-WAM files: ICL loader with K prompts, empty-prompt server path, chunked ICL encode, FSDP CPU offload, RoboCasa configs) |
ckpt_step_0615.zip … ckpt_step_3075.zip |
Epoch-1 … epoch-5 checkpoints (transformer/ safetensors + config). Use them with the vae, text_encoder and tokenizer from Robbyant-Research/zero-wam-pretrain. |
data_robocasa_{1..4}.zip |
LeRobot v2.1 dataset in the RoboTwin layout, 49 tasks × 100 MimicGen episodes (8-D RoboTwin-convention states/actions, letterboxed 3-camera videos, Wan2.2 VAE latents), split into 4 task groups |
data_prompt_latents_{1..4}.zip |
Prompt-video latents in the HumanGen human-latent format (same 4 task groups) |
data_prompts_and_pairing.zip |
Prompt MP4s (12 fps, 320×480) and ICL_config_robocasa.json (14,700 target/prompt pairs) |
raw_selected_mg.zip |
The selected raw RoboCasa MimicGen episodes (parquet + 2 cameras) |
mg_sources.zip |
MimicGen source datasets prepared from RoboCasa pretrain human demos (used for online eval prompts) |
results.zip |
Eval runs (per-scenario results, prompts, rollout videos, metrics), training logs, replay/self-test reports, the two reports |
zero-wam-pretrain on 4× H100 with FSDP CPU offload, effective batch 8, lr 1e-4, 5 epochs (3,089 steps) of a planned 8.Online, randomized RoboCasa target-split scenes, with prompt videos generated live by MimicGen. 10 scenarios per task, 10 denoising steps. See results.zip → eval_runs/test_step3075_n10/aggregate.json for the final numbers.
The Zero-WAM code and weights are Apache-2.0. The data is derived from RoboCasa datasets and assets; see RoboCasa for their terms.
3 files, 41.0 MB in total.
| File | Type | Size | SHA-256 |
|---|---|---|---|
| README.md | Documentation | 3.3 KB | — |
| code.zip | Other | 41.0 MB | — |
| .gitattributes | Repository | 1.5 KB | — |
Louis Dai grants access through its official repository on Hugging Face. Read the license.
Yes. ZeroWAM_RC49 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.
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