vam-cross-level2-ur5e-widowx-texture-teleopaligned-videolora400-action-decoder-iter900

VAM-Cross MimicVideo World2Action decoder

This public repository contains the World2Action decoder checkpoint from iteration 900 of w2a_ur5e_level2_widowx_texture_2cam_hstack_replica_20260823_a_action_iter2374_videolora_iter400_widowx_teleop_recording_frame_v1. The run stopped because of completed. The newest complete model, optimizer, scheduler, and trainer checkpoint set was verified before selecting the uploaded model weight.

Required frozen inputs

• MimicVideo commit: e3355dbc93132b576c02f920a59b4fc18a4f5906
• Initial Video2World backbone: dreamdifferent/widowx250-video-fused@f0cea76b62c5dd66b06b9f965932ddea32a7b546
• Initial action decoder: dreamdifferent/vam-cross-target-widowx250-native-2cam-action-decoder@93750cccda01620e3c028477e4c49bc5c996a68d
• Frozen Video LoRA: dreamdifferent/vam-cross-level2-ur5e-widowx-texture-video-lora-replica-20260823a-iter400@0442cbcc420aa52e2671cf5cb6f71966bfe303d4

Action and data contract

• Dataset: dreamdifferent/vam-cross-level2-ur5e-widowx-texture@15afa4b617bb342c71e18dcd882bfcd7abaece9e
• Episodes/frames: 236 / 54763
• Cameras: observation.images.corner_cam, observation.images.front_cam
• Target: 15 achieved-EE/gripper actions at 5 Hz
• Pose target: relative_to_current_achieved_pose in widowx_reference_base/teleop_aligned_tool
• Rotation: rotation_6d

The dataset and frozen inputs are not included. Use the pinned JSON and effective config.yaml included in this repository.