sft_two_stage_robotwin_clean

An OpenWAM-Study checkpoint: downstream supervised finetuning on RoboTwin 2.0, applied identically across every Q5 pretraining variant so the recipes can be compared end to end.

Finetuned on RoboTwin 2.0 Clean from the two-stage (ego then robot) pretraining.

• Paper: https://arxiv.org/abs/2609.07398
• Code: https://github.com/OpenWAM-Official/OpenWAM
• Project page: https://openwam-official.github.io/

Citation

@article{wang2026openwam,
  title   = {OpenWAM: An Open, Modular Exploration Towards Systematic World-Action Model Pretraining},
  author  = {Yuran Wang and Siqiao Huang and Mingleyang Li and Chenhao Zhang and Jiaqi Liang and Weiyang Jin and Yue Chen and Xuemin Chi and Donghao Zhou and Qize Yu and Yu-Kai Wang and Yuhan Rui and Shenzhe Yao and Zhen Yuan and Zhenhao Shen and Kefei Zhu and Zijie Zhu and Ning Gao and Xiaowei Chi and Guanqi He and Shanghang Zhang and Hao Dong and Lin Shao and Hang Zhao},
  year    = {2026},
  journal = {arXiv preprint arXiv: 2609.07398}
}