LIQIIIII/badwam-libero-joint-wam

BadWAM LIBERO Joint WAM Checkpoint

This repository contains the Joint WAM checkpoint used in the LIBERO evaluation of:

BadWAM: World-Action Desynchronization Attacks against World-Action Models

Files

File	Description
model.pt	Joint WAM checkpoint trained on LIBERO with the FastWAM libero_joint_2cam224_1e-4 configuration.
dataset_stats.json	LIBERO dataset statistics required for action normalization and denormalization.
model_index.json	Machine-readable metadata for this checkpoint.

2cam224 denotes the two-camera LIBERO setup with 224x224 visual inputs.

Related checkpoints

• Official FastWAM action-only / unconditioned LIBERO checkpoint: yuanty/fastwam
  • libero_uncond_2cam224.pt
  • libero_uncond_2cam224_dataset_stats.json
• BadWAM LIBERO IDM WAM checkpoint: LiQiiiii/badwam-libero-idm-wam

Suggested local layout

For BadWAM/FastWAM-style evaluation, place or symlink the files as:

local_checkpoints/trained_libero/
  libero_joint_2cam224.pt
  libero_joint_2cam224_dataset_stats.json

Example:

mkdir -p local_checkpoints/trained_libero
ln -s /path/to/model.pt local_checkpoints/trained_libero/libero_joint_2cam224.pt
ln -s /path/to/dataset_stats.json local_checkpoints/trained_libero/libero_joint_2cam224_dataset_stats.json

Citation

@misc{li2026badwamworldactionmodelsdream,
      title={BadWAM: When World-Action Models Dream Right but Act Wrong}, 
      author={Qi Li and Xingyi Yang and Xinchao Wang},
      year={2026},
      eprint={2607.15207},
      archivePrefix={arXiv},
      primaryClass={cs.LG},
      url={https://arxiv.org/abs/2607.15207}, 
}