FastWAM LIBERO ROBOTWIN sim packages by ClockWorkKid · Pull Request #96 · AMDResearch/Ryzers

ClockWorkKid · 2026-08-19T09:26:49Z

Added the following new packages:

WAM - FastWAM
Simulator - LIBERO, RoboTwin2.0

…lator bases Adds three packages on top of main (ROCm 7.14, Strix Halo / gfx1151): - simulation/libero: model-agnostic LIBERO (MuJoCo/EGL) base exposing a Policy seam - simulation/robotwin: model-agnostic RoboTwin 2.0 (SAPIEN/Vulkan) base exposing a Policy seam (curobo replaced by mplib for ROCm) - wam/fastwam: Wan2.2-TI2V-5B world-action model; chains onto both sim bases for closed-loop and interactive rollouts, plus standalone open-loop replay and video imagination Co-authored-by: Cursor <cursoragent@cursor.com>

Co-authored-by: Cursor <cursoragent@cursor.com>

…README refs; swap RoboTwin example to FastWAM Removes the per-package docs/UPSTREAM_PIN provenance files and fastwam RUNTIME_OPTIMIZATION.md; repoints README references to FASTWAM_COMMIT/RT_COMMIT in the Dockerfiles. Drops the libero vjepa example (belongs with the vjepa package) and swaps the RoboTwin AHA-WAM example for a FastWAM closed-loop example. Co-authored-by: Cursor <cursoragent@cursor.com>

Regenerate all demo gifs at native source resolution via ffmpeg palettegen (LIBERO 512x256, RoboTwin 640x480, imagination 896x224/640x384, slow 448x448), replacing the downscaled ~240px versions. Adds robotwin_fastwam.gif for the RoboTwin package example. Co-authored-by: Cursor <cursoragent@cursor.com>

…ge roots Co-authored-by: Cursor <cursoragent@cursor.com>

Co-authored-by: Cursor <cursoragent@cursor.com>

…-top slow caption, RoboTwin-only imagination Co-authored-by: Cursor <cursoragent@cursor.com>

Swap the fixed-frame click_bell/lift_pot demos (black top-right panel) for continuous closed-loop rollouts from the ported harness's 4-view compositor: head | third-person observer / left | right wrist. Co-authored-by: Cursor <cursoragent@cursor.com>

Regenerate the simulation/robotwin example (beat_block_hammer) as a continuous 4-view rollout with the third-person observer panel populated, matching the refreshed fastwam closed-loop gifs. Remove the now-unreferenced beat_block_hammer and handover_block gifs from the fastwam package. Co-authored-by: Cursor <cursoragent@cursor.com>

- robotwin: pin scipy<1.15 so mplib/toppra import under numpy 1.26.4 - fastwam/libero/robotwin READMEs + sim config: use resolved package names (libero, robotwin) for ryzers build; add --name to chained example builds Co-authored-by: Cursor <cursoragent@cursor.com>

skalade

Looking good. Some additional comments:

Remove unused assets:

closedloop_libero_bbq_sauce.gif
closedloop_libero_butter.gif
imagination_libero.gif
openloop_libero_ep00.png
openloop_libero_per_dim_mae.png
openloop_robotwin_ep00.png
openloop_robotwin_per_dim_mae.png

There's also a duplicate gif:

closedloop_libero_alphabet_soup.gif (duplicates LIBERO’s package GIF)

if possible I'd keep config.yaml's minimal where possible, unless there's a good re-use reason throughout the scripts/demos

skalade · 2026-08-19T21:35:19Z

+# SPDX-License-Identifier: MIT
+
+# ROCm 7.14 base (rocm/pytorch torch 2.10.0).
+init_image: rocm/pytorch:rocm7.14_ubuntu24.04_py3.12_pytorch_release_2.10.0


why overriding default 7.14 torch 2.12 image?

skalade · 2026-08-19T21:37:11Z

@@ -0,0 +1,91 @@
+### FastWAM
+
+This package runs [FastWAM](https://github.com/yuantianyuan01/FastWAM) on AMD Ryzen AI Max+ 395 (Strix Halo, gfx1151) under ROCm 7.14. FastWAM is a Wan2.2-TI2V-5B world-action model (T5 text encoder, Wan VAE, and a joint video/action DiT) that can plan actions with the video head skipped for speed, or imagine future frames alongside the action plan. It chains on top of a simulator base for closed-loop and interactive runs, or runs standalone on the plain base for the non-sim demos.


Remove "This package runs FastWAM on AMD Ryzen AI Max+ 395 (Strix Halo, gfx1151) under ROCm 7.14." I'd rather ROCm version not be hardcoded in readmes of individual packages and technically this should work on strix points as well

skalade · 2026-08-19T21:37:33Z

+right).
+
+```sh
+DATASET=libero ryzers run --name fastwam /ryzers/demos/demo_videogen.sh


Video imagination gif shows robotwin, but instruction says DATASET=libero

skalade · 2026-08-19T21:39:47Z

+x11_display: false
+
+environment_variables:
+- "HSA_OVERRIDE_GFX_VERSION=11.5.1"


HSA_OVERRIDE no longer necessary with latest ROCm

skalade · 2026-08-19T21:40:26Z

+gpu_support: true
+x11_display: false


I think these are default runtime params in ryzers and are unnecessary to set separately per package

skalade · 2026-08-19T22:15:51Z

+# SPDX-License-Identifier: MIT
+
+# ROCm 7.14 base (rocm/pytorch torch 2.10.0).
+init_image: rocm/pytorch:rocm7.14_ubuntu24.04_py3.12_pytorch_release_2.10.0


why overriding default rocm7.14 image?

skalade · 2026-08-19T22:25:49Z

+for TASK in $TASKS; do
+  echo "########## RoboTwin $TASK ($NUM_EPISODES episodes) ##########"
+  python -u experiments/robotwin/eval_robotwin_single.py \
+    ckpt=$CKPT gpu_id=0 mixed_precision=bf16 \
+    EVALUATION.robotwin_root=/opt/RoboTwin \
+    EVALUATION.task_name=$TASK EVALUATION.task_config=$TASK_CONFIG \
+    EVALUATION.eval_num_episodes=$NUM_EPISODES \
+    EVALUATION.dataset_stats_path=$REL/robotwin_uncond_3cam_384_dataset_stats.json \
+    2>&1 | grep -viE 'svulkan2|Failed to initialize denoiser|cudaErrorInsufficientDriver' \
+    || echo "TASK $TASK returned nonzero"
+done
+echo "PASS: RoboTwin closed-loop suite complete"


it looks like regardless of python exit condition the script will always print a PASS
RoboTwin explicitly converts pipeline failures into successful echo commands, then always prints PASS

skalade · 2026-08-19T22:30:42Z

+x11_display: false
+
+environment_variables:
+- "HSA_OVERRIDE_GFX_VERSION=11.5.1"


skalade · 2026-08-19T22:31:00Z

+# SPDX-License-Identifier: MIT
+
+# ROCm 7.14 base (rocm/pytorch torch 2.10.0).
+init_image: rocm/pytorch:rocm7.14_ubuntu24.04_py3.12_pytorch_release_2.10.0


shouldn't override default ryzer unless there's good reason

skalade · 2026-08-19T22:38:37Z

+--- a/envs/robot/planner.py
+++ b/envs/robot/planner.py
+@@ -274,6 +274,7 @@ except Exception as e:
+     print('[planner.py]: Something wrong happened when importing CuroboPlanner! Please check if Curobo is installed correctly. If the problem still exists, you can install Curobo from https://github.com/NVlabs/curobo manually.')


The patch enables the mplib fallback but leaves RoboTwin’s original error reporting intact. Since Curobo is intentionally absent on ROCm, this is an expected condition

Change the patch so the resulting planner.py does this:

except ModuleNotFoundError as exc:
if (exc.name or "").split(".", 1)[0] != "curobo":
raise
CuroboPlanner = None

ClockWorkKid and others added 12 commits August 18, 2026 17:38

docs(readme): list FastWAM (WAM) and LIBERO/RoboTwin simulation packages

7f40514

Co-authored-by: Cursor <cursoragent@cursor.com>

Update README.md

5feab7f

WAM/sim: nest patches/ and adapters/ under scripts/ to minimize packa…

d3b0090

…ge roots Co-authored-by: Cursor <cursoragent@cursor.com>

Update README.md

642ec3d

WAM/sim: minimize code/script/Dockerfile comments to terse porting notes

4c58c1c

Co-authored-by: Cursor <cursoragent@cursor.com>

WAM/sim: README gallery - 2-up stacked libero/robotwin gifs, imagined…

a13b8f1

…-top slow caption, RoboTwin-only imagination Co-authored-by: Cursor <cursoragent@cursor.com>

skalade reviewed Aug 19, 2026

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FastWAM LIBERO ROBOTWIN sim packages - #96

FastWAM LIBERO ROBOTWIN sim packages#96
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		@@ -0,0 +1,91 @@
		### FastWAM

		This package runs [FastWAM](https://github.com/yuantianyuan01/FastWAM) on AMD Ryzen AI Max+ 395 (Strix Halo, gfx1151) under ROCm 7.14. FastWAM is a Wan2.2-TI2V-5B world-action model (T5 text encoder, Wan VAE, and a joint video/action DiT) that can plan actions with the video head skipped for speed, or imagine future frames alongside the action plan. It chains on top of a simulator base for closed-loop and interactive runs, or runs standalone on the plain base for the non-sim demos.

		gpu_support: true
		x11_display: false

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