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robustness-image-wam-ckpt
yigao7117/robustness-image-wam-ckpt
robustness-image-wam-ckpt is a robotics model from yigao7117. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for pytorch.
FLUX.2-klein-4B ImageWAM finetuned on Unitree G1 dual-arm end-effector (16-dim) tasks. Code: https://github.com/yigao7117-hub/robustness-image-wam (branch main, see docs/MIGRATIONG1.md).
Access
Public
Updated Sep 23, 2026
Repo size
124 GB
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.pt124 GB · 100%
At a glance
- Task
- Robotics
- Library
- pytorch
- Access
- Public
- Created
- Sep 23, 2026
- Updated
- Sep 23, 2026
- SHA
- 6a1298dd
Model card
From the Hugging Face model README
ImageWAM G1 EEF finetuned checkpoints (private)
FLUX.2-klein-4B ImageWAM finetuned on Unitree G1 dual-arm end-effector (16-dim) tasks. Code: https://github.com/yigao7117-hub/robustness-image-wam (branch main, see docs/MIGRATION_G1.md).
Restore on a new machine:
hf download <this repo> --local-dir <IW>
| task | run | ckpt |
|---|---|---|
| drawer | g1_drawer_eef_flux2_klein_4b/2026-09-14_20-52-42 | step_010000.pt |
| biomanual | g1_biomanual_eef_flux2_klein_4b/2026-09-14_21-50-01 | step_006000.pt |
| tennis | g1_tennis_eef_flux2_klein_4b/2026-09-11_20-33-03 | step_006000.pt |
| simple-pick | g1_simple_pick_eef_flux2_klein_4b/2026-09-12_22-08-43 | step_006000.pt |
| stack-cube | g1_stack_cube_eef_flux2_klein_4b/2026-08-09_10-25-59 | step_009360.pt |
| hang-sort | g1_hang_sort_merged_eef_flux2_klein_4b/2026-08-24_19-49-58 | step_006360.pt |
| item-sort | g1_item_sort_merged_eef_flux2_klein_4b/2026-08-26_20-56-16 | step_010320.pt |
Base weights are not included: flux-2-klein-base-4b.safetensors from black-forest-labs/FLUX.2-klein-base-4B, ae.safetensors from black-forest-labs/FLUX.2-dev (gated).
- Task
- Robotics
- Library
- pytorch
- Created
- Sep 23, 2026
- Updated
- Sep 23, 2026