BadWAM LIBERO IDM WAM Checkpoint
This repository contains the IDM WAM checkpoint used in the LIBERO evaluation of:
BadWAM: World-Action Desynchronization Attacks against World-Action Models
Files
| File | Description |
|---|---|
model.pt | IDM WAM checkpoint trained on LIBERO with the FastWAM libero_idm_2cam224_1e-4 configuration. |
dataset_stats.json | LIBERO dataset statistics required for action normalization and denormalization. |
model_index.json | Machine-readable metadata for this checkpoint. |
2cam224 denotes the two-camera LIBERO setup with 224x224 visual inputs.
Related checkpoints
- Official FastWAM action-only / unconditioned LIBERO checkpoint: yuanty/fastwam
libero_uncond_2cam224.ptlibero_uncond_2cam224_dataset_stats.json
- BadWAM LIBERO Joint WAM checkpoint:
LiQiiiii/badwam-libero-joint-wam
Suggested local layout
For BadWAM/FastWAM-style evaluation, place or symlink the files as:
local_checkpoints/trained_libero/
libero_idm_2cam224.pt
libero_idm_2cam224_dataset_stats.json
Example:
mkdir -p local_checkpoints/trained_libero
ln -s /path/to/model.pt local_checkpoints/trained_libero/libero_idm_2cam224.pt
ln -s /path/to/dataset_stats.json local_checkpoints/trained_libero/libero_idm_2cam224_dataset_stats.json
Citation
@misc{li2026badwamworldactionmodelsdream,
title={BadWAM: When World-Action Models Dream Right but Act Wrong},
author={Qi Li and Xingyi Yang and Xinchao Wang},
year={2026},
eprint={2607.15207},
archivePrefix={arXiv},
primaryClass={cs.LG},
url={https://arxiv.org/abs/2607.15207},
}