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README.md

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+---
+pretty_name: GlanceWAM reproduction bundle
+tags:
+  - robotics
+  - vision-language-action
+  - world-model
+  - libero
+  - robocasa
+---
+
+# GlanceWAM reproduction bundle
+
+Everything needed to reproduce the GlanceWAM results on LIBERO and RoboCasa kitchen.
+
+```
+datasets/     LeRobot v3 datasets, UMT5 text caches included (glancewam_cache/)
+checkpoints/  released checkpoints, one directory per run
+```
+
+Point the code at this directory:
+
+```bash
+export DATA_ROOT=/data/glancewam_release/datasets           # training + precompute
+ln -s /data/glancewam_release/checkpoints  <repo>/results/Checkpoints
+```
+
+## Checkpoints
+
+| Directory | Benchmark | Reported |
+|---|---|---|
+| `glancewam_robocasa_kitchen` | RoboCasa kitchen, 24 tasks x 50 episodes | **0.721** |
+| `glancewam_libero` | LIBERO 4-in-1, 4 suites x 500 episodes | **0.989** |
+
+Kitchen run-to-run noise is ~0.02 (the environment is paired but the policy is unseeded), so
+treat anything within ~+/-0.02 as a match. LIBERO is saturated; differences under ~0.005 are noise.
+
+## Datasets
+
+| Directory | Used by |
+|---|---|
+| `libero_{spatial,object,goal,10}_no_noops_1.0.0_lerobot` | LIBERO (mixture `libero_all`) |
+| `robocasa_cosmos_kitchen/` | RoboCasa kitchen, 24 per-task datasets (mixture `robocasa_kitchen_all`) |
+
+Each dataset already carries its precomputed UMT5 text cache under
+`<dataset>/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512`, so training can run
+with `RESIDENT_TEXT_TABLE=True` (the default) without running the precompute step first.
+
+The dataset trees are hard-linked from `/data/lerobot_v3`, so they cost no extra disk on this
+machine; copying the directory elsewhere produces independent full copies.
+
+## Code
+
+<https://github.com/linhanwang/GlanceWAM>
+
+```bash
+hf download LinhanWang/GlanceWAM --repo-type dataset --local-dir ./glancewam_bundle
+cd /path/to/GlanceWAM
+mkdir -p results
+ln -s /abs/path/to/glancewam_bundle/datasets     results/Datasets
+ln -s /abs/path/to/glancewam_bundle/checkpoints  results/Checkpoints
+```
+
+## Attribution
+
+The datasets here are derived from third-party releases and remain subject to their original
+terms: **LIBERO** (Lifelong Robot Learning, MIT) and the **RoboCasa** kitchen task suite as
+distributed by NVIDIA's cosmos-policy release (RoboCasa Team, MIT). The checkpoints are fine-tuned
+from **SkyReels-V2-DF-1.3B-540P** (Skywork) and inherit that model's terms. The GlanceWAM code
+itself is MIT-licensed; see the code repository.

datasets/robocasa_cosmos_kitchen/robocasa_CloseSingleDoor_rollouts_skyreels0704_lerobot/meta/info.json

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datasets/robocasa_cosmos_kitchen/robocasa_CloseSingleDoor_rollouts_skyreels0704_lerobot/meta/modality.json

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datasets/robocasa_cosmos_kitchen/robocasa_CloseSingleDoor_rollouts_skyreels0704_lerobot/meta/stats_gr00t.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json

@@ -0,0 +1,33 @@
+{
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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json

@@ -0,0 +1 @@
+["open the cabinet door", "open the microwave door"]

datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json

@@ -0,0 +1,5 @@
+{
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+}

datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/meta/info.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/meta/modality.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/meta/stats.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/meta/stats_gr00t.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_rollouts_skyreels0704_lerobot/meta/info.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_rollouts_skyreels0704_lerobot/meta/modality.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_rollouts_skyreels0704_lerobot/meta/stats.json

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datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_rollouts_skyreels0704_lerobot/meta/stats_gr00t.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPMicrowaveToCounter_rollouts_skyreels0704_lerobot/meta/info.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPMicrowaveToCounter_rollouts_skyreels0704_lerobot/meta/modality.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPMicrowaveToCounter_rollouts_skyreels0704_lerobot/meta/stats_gr00t.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json

@@ -0,0 +1,33 @@
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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json

@@ -0,0 +1,62 @@
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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json

@@ -0,0 +1,5 @@
+{
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+}

datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_cosmos_lerobot/meta/info.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_cosmos_lerobot/meta/stats_gr00t.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_rollouts_skyreels0704_lerobot/meta/info.json

@@ -0,0 +1,168 @@
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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_rollouts_skyreels0704_lerobot/meta/modality.json

@@ -0,0 +1,46 @@
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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_rollouts_skyreels0704_lerobot/meta/stats.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_rollouts_skyreels0704_lerobot/meta/stats_gr00t.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_rollouts_skyreels0704_lerobot/meta/info.json

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datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_rollouts_skyreels0704_lerobot/meta/modality.json

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datasets/robocasa_cosmos_kitchen/robocasa_TurnOffStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json

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datasets/robocasa_cosmos_kitchen/robocasa_TurnOffStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json

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datasets/robocasa_cosmos_kitchen/robocasa_TurnOffStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json

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datasets/robocasa_cosmos_kitchen/robocasa_TurnOffStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json

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datasets/robocasa_cosmos_kitchen/robocasa_TurnOffStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json

@@ -0,0 +1,5 @@
+{
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datasets/robocasa_cosmos_kitchen/robocasa_TurnOffStove_cosmos_lerobot/meta/info.json

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datasets/robocasa_cosmos_kitchen/robocasa_TurnOffStove_cosmos_lerobot/meta/modality.json

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datasets/robocasa_cosmos_kitchen/robocasa_TurnOffStove_cosmos_lerobot/meta/stats_gr00t.json

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