HiMem-WAM Checkpoint

This repository hosts the released checkpoint and dataset statistics for HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulation.

GitHub: https://github.com/Agentic-Intelligence-Lab/HiMem-WAM

Files

• himem-wam_libero.pt: released HiMem-WAM checkpoint.
• himem-wam_libero_dataset_stats.json: dataset statistics used for action normalization and inference.

Usage

export CKPT=/path/to/himem-wam_libero.pt
export STATS=/path/to/himem-wam_libero_dataset_stats.json

python scripts/infer_libero.py \
  --backend wan \
  --config configs/libero/infer_libero.yaml \
  --checkpoint "$CKPT" \
  --dataset-stats "$STATS" \
  --suite libero_spatial \
  --task 0 \
  --num-rollouts 50 \
  --device cuda:0 \
  --save-dir outputs/libero_spatial_task0 \
  --max-steps 500

Please refer to the GitHub repository for installation, environment setup, and evaluation instructions.