Fast-WAM: Do World Action Models Need Test-time Future Imagination?
Paper • 2603.16666 • Published
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] | libero_10_no_noops_lerobot/data/chunk-000/episode_000000 | /tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam-302f9a44/hub/datasets--yuanty--LIBERO-fastwam/snapshots/117413dc0ca99c7cd64036c4eaa4a316c537d692/libero_10_no_noops_lerobot.tar.gz |
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] | libero_10_no_noops_lerobot/data/chunk-000/episode_000001 | /tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam-302f9a44/hub/datasets--yuanty--LIBERO-fastwam/snapshots/117413dc0ca99c7cd64036c4eaa4a316c537d692/libero_10_no_noops_lerobot.tar.gz |
"UEFSMRUEFcB/Fcp/TBXwHxUAEgAA4D/03x9voVq+//tIPHs3lD/m7khAv+USunqbvL0O3h496uEevQq8Wr7mVmo8MTGUP6kDSUB(...TRUNCATED) | libero_10_no_noops_lerobot/data/chunk-000/episode_000002 | "/tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam(...TRUNCATED) |
"UEFSMRUEFbiEARXChAFMFY4hFQASAACcQvQbIT38Tb58u0K6pnWWP9sASUAweZK67PazvXzgHj2x3x69WF9NvhV+Lbo8dJY/xAJ(...TRUNCATED) | libero_10_no_noops_lerobot/data/chunk-000/episode_000003 | "/tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam(...TRUNCATED) |
"UEFSMRUEFfh0FYJ1TBWeHRUAEgAAvDr0Ox3LBVm+9X7zup/1lT+b6UhAO4F4Ojkpu7053R49/OIevQkGWb4Sr1e65PWVP3/2SEC(...TRUNCATED) | libero_10_no_noops_lerobot/data/chunk-000/episode_000004 | "/tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam(...TRUNCATED) |
"UEFSMRUEFYBtFYptTBWgGxUAEgAAwDb0PxvlelW+lXYSvF9vlj/KBElAtxJTOp55tL0Y4R49Ft8evRV7Vb5ThxK8W2+WP1MGSUC(...TRUNCATED) | libero_10_no_noops_lerobot/data/chunk-000/episode_000005 | "/tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam(...TRUNCATED) |
"UEFSMRUEFYByFYhyTBXAHBUAEgAAgDmwimhNvh+IGLyXQpg/afdIQEIm67kCb7q9zN8ePW3gHr1FWk2+SHkYvNNDmD8PASD0Thx(...TRUNCATED) | libero_10_no_noops_lerobot/data/chunk-000/episode_000006 | "/tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam(...TRUNCATED) |
"UEFSMRUEFYB0FYp0TBWAHRUAEgAAgDr0/xxvLVS+29F5unBQlj9L+khAIwPjOjhHuL243x49deAevUoDVL763HO63U+WP3b8SEA(...TRUNCATED) | libero_10_no_noops_lerobot/data/chunk-000/episode_000007 | "/tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam(...TRUNCATED) |
"UEFSMRUEFbiTARXCkwFMFe4kFQASAADcSfTbJLpRVb432Na6eBaVP+n1SED2t1Y7m7azvZHfHj2X4B69HytVvpgHCLuGFZU/pfp(...TRUNCATED) | libero_10_no_noops_lerobot/data/chunk-000/episode_000008 | "/tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam(...TRUNCATED) |
"UEFSMRUEFYCVARWKlQFMFaAlFQASAADASvQ/JZPrVr5x9MK7yrSVP0/xSEAkf4U5r8mtvW7eHj3H4R69lkVWvgyWwrtuvpU/fPN(...TRUNCATED) | libero_10_no_noops_lerobot/data/chunk-000/episode_000009 | "/tmp/hf-datasets-cache/medium/datasets/93711110481597-config-parquet-and-info-yuanty-LIBERO-fastwam(...TRUNCATED) |
End of preview. Expand in Data Studio
LIBERO MuJoCo 3.3.2 (Preprocessed LeRobot v2.1 Release)
This repository releases our preprocessed LIBERO dataset in LeRobot v2.1 format for the open-source release of Fast-WAM: Do World Action Models Need Test-time Future Imagination?
This is not an official upstream LIBERO data dump. It is our paper-specific processed release prepared to support training, evaluation, and reproducibility for our project.
This Hugging Face repository distributes the dataset as four .tar.gz archives, one per LIBERO subset:
README.md
libero_10_no_noops_lerobot.tar.gz
libero_goal_no_noops_lerobot.tar.gz
libero_object_no_noops_lerobot.tar.gz
libero_spatial_no_noops_lerobot.tar.gz
Summary
- Provenance: preprocessed from LIBERO for the Fast-WAM open-source release
- Format: LeRobot
v2.1 - Environment backend:
MuJoCo 3.3.2 - Robot type:
franka - Number of subsets:
4
Project
- Project page: https://yuantianyuan01.github.io/FastWAM/
- Paper: https://arxiv.org/abs/2603.16666
- Code repository: https://github.com/yuantianyuan01/FastWAM
Important
This dataset is MuJoCo-version sensitive. It was generated with MuJoCo 3.3.2, and this version matters for reproducibility. If you use a different MuJoCo version, you should expect dataset or environment mismatch.
Download and Extract
Download all archive files from this repository, then extract all of them locally:
for f in *.tar.gz; do
tar -xzf "$f"
done
After extraction, you will get:
libero_10_no_noops_lerobot/
libero_goal_no_noops_lerobot/
libero_object_no_noops_lerobot/
libero_spatial_no_noops_lerobot/
Each subset follows the standard LeRobot v2.1 layout:
libero_10_no_noops_lerobot/
data/
meta/
videos/
Loading
After extraction, each subset can be loaded as a standard LeRobot v2.1 dataset.
Notes
- The release is distributed as per-subset archives. Users need to extract a subset locally before loading it with LeRobot-compatible tooling.
- Please review the upstream LIBERO redistribution terms before making this repository public.
License
This release is a preprocessed derivative of the LIBERO datasets for Fast-WAM.
It is released under CC BY 4.0, consistent with the upstream LIBERO dataset license. Please also refer to the official LIBERO project for upstream attribution and terms.
Citation
If you use this release, please cite the Fast-WAM paper.
@misc{yuan2026fastwam,
title={Fast-WAM: Do World Action Models Need Test-time Future Imagination?},
author={Tianyuan Yuan and Zibin Dong and Yicheng Liu and Hang Zhao},
year={2026},
note={arXiv preprint arXiv:2603.16666}
}
If you use the underlying LIBERO benchmark or data source, please also cite the original LIBERO work and project.
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Size of downloaded dataset files:
4.69 GB
Size of the auto-converted Parquet files:
51.6 MB
Number of rows:
5,152