DynamicWAM
Official DynamicWAM checkpoints for DOMINO manipulation. This repository is organized by paper-facing model variant; each checkpoint is paired with its action-normalization statistics and immutable configuration snapshots.
Released variants
| Paper name | Checkpoint | Motion conditioning | DOMINO Level 1 |
|---|---|---|---|
| DynamicWAM (w/o motion) | checkpoints/dynamicwam_wo_motion/model.pt | Four history Flow-RGB intervals; no explicit absolute-motion descriptor tokens | 953/3,500, SR 27.23%, MS 41.6244 |
| DynamicWAM | checkpoints/dynamicwam/model.pt | History Flow RGB + exact-time absolute-motion descriptors | 1,337/3,500, SR 38.20%, MS 53.16 |
“w/o motion” refers specifically to removing the explicit numeric absolute-motion/kinematic descriptor branch. It does not mean that optical flow is removed: the variant still consumes history Flow RGB.
The reported numbers are the archived 35-task × 100-episode DOMINO Level 1 system results. They are not a newly rerun benchmark and should not be interpreted as a matched one-variable causal estimate beyond the named model variants.
Repository layout
checkpoints/
├── dynamicwam_wo_motion/
│ ├── model.pt
│ └── action_stats.json
└── dynamicwam/
├── model.pt
└── action_stats.json
configs/
├── dynamicwam_wo_motion/
│ ├── stage1_video.yaml
│ ├── stage2_action.yaml
│ ├── stage3_joint.yaml
│ └── deploy.yaml
└── dynamicwam/
└── absolute_motion_v2.yaml
MODEL_MANIFEST.json
SHA256SUMS
The dynamicwam_wo_motion YAML files are exact historical configuration
snapshots and therefore retain their original cluster paths. Remap those paths
to your local checkout and downloaded assets before training or evaluation.
Download
hf download KhalilGao/DynamicWAM \
--include "checkpoints/dynamicwam_wo_motion/*" \
--include "configs/dynamicwam_wo_motion/*" \
--local-dir external/DynamicWAM
The matching packed training corpus is published at
KhalilGao/DynamicWAM-data
under dynamicwam_wo_motion/.
Checkpoint identity
| Variant | Global step | Size (bytes) | SHA-256 |
|---|---|---|---|
| DynamicWAM (w/o motion) | 40,000 | 1,976,638,827 | fa88a1f33f2205db5a4534e09bb02d1bee9dea7b2049299ac68932a34de82f03 |
| DynamicWAM | 40,000 | 1,977,857,939 | 7c0dfc44a785ea1f6bd1f833f09dcadc2e470dadb1ba5508fa98918e147671d7 |
Both are native PyTorch checkpoint dictionaries. As with any pickle-backed
PyTorch artifact, load them only from a trusted revision and verify the hashes
in SHA256SUMS first.
External assets
The checkpoints do not bundle Wan2.2-TI2V-5B, its tokenizer/VAE, the DOMINO
runtime, CuRobo, or simulator assets. See the
DynamicWAM source repository
for environment and evaluation setup.
License
Project-owned release material is provided under Apache-2.0. Upstream assets retain their own licenses; this repository does not relicense or redistribute the external runtime dependencies listed above.