Faster-WAM Checkpoints

This repository provides the official checkpoints for Faster-WAM: Efficient Inference-Time Future Conditioning for Robust World Action Models.

Files

libero/
├── step_021700.pt
└── dataset_stats.json
robotwin/
├── step_029355.pt
└── dataset_stats.json

• libero/step_021700.pt: checkpoint for LIBERO and LIBERO-Plus evaluation.
• robotwin/step_029355.pt: checkpoint for RoboTwin evaluation.
• dataset_stats.json: dataset statistics required by the corresponding evaluation pipeline.

Links

• Code: https://github.com/hustvl/FasterWAM
• Paper: https://arxiv.org/pdf/2608.04404

Citation

@article{zhao2026faster,
  title   = {Faster-WAM: Efficient Inference-Time Future Conditioning for Robust World Action Models},
  author  = {Zhao, Weiheng and Jiang, Haoyi and Shi, Xin and Liu, Liu and Huang, Fan and Su, Zhizhong and Sui, Wei and Wang, Xinggang},
  journal = {arXiv preprint arXiv:2608.04404},
  year    = {2026}
}