| --- |
| license: other |
| tags: |
| - robotics |
| - world-model |
| - robotwin |
| - multi-view |
| - pytorch |
| --- |
| |
| # Multi-WAM World v6 migration bundle |
|
|
| This public repository is a reproducible transfer bundle for the current Multi-WAM RoboTwin2.0 |
| World Model v6 stage. The 2026-08-05 update adds the complete modified v6 source, frozen |
| Qwen3-VL-2B runtime, the audited World step-80000 migration checkpoint, migration inputs, deployment |
| evidence, and an agent Skill. Unchanged, SHA-identical archives from the previous release are reused: |
| the packed `mira` conda environment, codec step-125000, LingBot/Wan runtime assets, and the complete |
| 27,500-episode latent/text cache. |
|
|
| The raw RoboTwin2.0 dataset is intentionally **not included**. Download or mount the 100 ALOHA ZIP |
| files separately at `datasets/RoboTwin2.0`; World v6 needs their original three-view RGB frames when |
| building Qwen anchors. |
|
|
| ## Current restore set |
|
|
| | Archive | Restores | Status | |
| |---|---|---| |
| | `source-code-world-v6-20260805.tar.zst` | current `mira/`, `lingbot-vision/`, v6 plans | new | |
| | `mira-conda-env.tar.zst` | relocatable Python 3.12 / Torch 2.8 CUDA 12.8 environment | reused | |
| | `runtime-models.tar.zst` | LingBot-Vision Large and Wan UMT5 assets | reused | |
| | `qwen3-vl-2b-instruct.tar.zst` | pinned frozen Qwen3-VL-2B current encoder | new | |
| | `codec-checkpoint-step125000.tar.zst` | codec weights plus optimizer/training state | reused | |
| | `world-checkpoint-step80000.tar.zst` | complete 32-shard audited v5 World migration source | new | |
| | `world-derived-cache.tar.zst` | complete latent/text cache and generated metadata | reused | |
| | `world-v6-migration-inputs.tar.zst` | EMA selection, state encoder, smoke reports/videos | new | |
|
|
| Historical source, World-50k, and individually uploaded World-80k objects remain in repository |
| history for compatibility, but the current restore script does not download or extract them. |
|
|
| All current payloads are covered by `SHA256SUMS`. Exact source/archive sizes, hashes, model contracts, |
| and reused/new status are recorded in `PACKAGE_MANIFEST.json`. No credential is included. |
|
|
| ## Direct selective download |
|
|
| Install a recent Hugging Face CLI, clear every proxy, and download only the current restore set: |
|
|
| ```bash |
| unset http_proxy https_proxy all_proxy ftp_proxy HTTP_PROXY HTTPS_PROXY ALL_PROXY FTP_PROXY |
| export NO_PROXY='*' no_proxy='*' HF_XET_HIGH_PERFORMANCE=1 |
| |
| hf download Orangerl/multi-wam \ |
| --include README.md PACKAGE_MANIFEST.json SHA256SUMS 'skills/**' \ |
| archives/source-code-world-v6-20260805.tar.zst \ |
| archives/mira-conda-env.tar.zst \ |
| archives/runtime-models.tar.zst \ |
| archives/qwen3-vl-2b-instruct.tar.zst \ |
| archives/codec-checkpoint-step125000.tar.zst \ |
| archives/world-checkpoint-step80000.tar.zst \ |
| archives/world-derived-cache.tar.zst \ |
| archives/world-v6-migration-inputs.tar.zst \ |
| --local-dir multi-wam-hf |
| ``` |
|
|
| Then ask an agent to use `skills/multi-wam-migrate/SKILL.md`. The deterministic restore entry point |
| is: |
|
|
| ```bash |
| bash skills/multi-wam-migrate/scripts/restore_bundle.sh \ |
| "$PWD" /path/to/Mutil_WAM /path/to/conda/envs/mira |
| ``` |
|
|
| After downloading/mounting the ALOHA data and creating a destination-local SwanLab token, run |
| `verify_install.sh` and `start_world_v6_smoke.sh`. The smoke launcher uses only physical GPUs 6 and |
| 7. Formal World v6 remains an explicitly guarded eight-GPU pipeline. |
|
|
| Official dataset: https://huggingface.co/datasets/TianxingChen/RoboTwin2.0 |
| Official RoboTwin code: https://github.com/RoboTwin-Platform/RoboTwin |
|
|
| MIRA and LingBot-Vision retain their upstream Apache-2.0 notices. Bundled third-party model assets, |
| checkpoints, and conda packages retain their respective licenses, so this aggregate repository uses |
| the mixed/other label rather than relicensing its contents. |
|
|
