GreenWAM: A World Foundation Model for Robotics

Paper · Project page · Code

A robot needs a world model that predicts how its actions change the scene and a policy that chooses those actions. GreenWAM is one robot world model that serves both roles across different bodies. It is built on Cosmos 3 Edge and trained with a three-part recipe:

• Shared anatomical action space. 20 robot families, from bimanual arms to dexterous humanoids, are described in common joint coordinates: every native joint is mapped to its anatomical role and to one of 79 shared slots.
• Joint robotics training. One model learns these families in visual, action-conditioned and world–action modes.
• Action expert. Policies split an action expert off the generator; it shares attention with it in every layer.

This repository holds the four benchmark checkpoints of the technical report. The code that evaluates them (policy servers, benchmark clients, the WorldArena rollout, evaluator and scoring) is in the GreenWAM repository.

Checkpoints

Folder	Benchmark	Role	Reported result
robotwin	RoboTwin 2.0 (50 tasks)	policy	67.54 mean · 86.98 clean · 48.10 randomized
libero	LIBERO · LIBERO-plus	policy	97.4 LIBERO · 86.8 LIBERO-plus zero-shot
calvin	CALVIN ABC→D	policy	4.64 average length
worldarena	WorldArena 1.0, track 1	world model	63.31 EWMScore

Every folder holds the EMA weights (bf16 safetensors), the config.yaml the evaluation reads, the action statistics of its benchmark and a SHA256SUMS file.

Usage

Download one checkpoint:

hf download SberRoboticsCenter/GreenWAM --include "robotwin/*" --local-dir checkpoints/GreenWAM

The checkpoints also need the Wan2.2 VAE and the Cosmos 3 Edge text tokenizer at the revision they were evaluated with:

hf download Wan-AI/Wan2.2-TI2V-5B Wan2.2_VAE.pth --local-dir checkpoints/Wan2.2-TI2V-5B
hf download nvidia/Cosmos3-Edge --revision a9d944e2c6a1bf9f48b92ad16348e70c5f1836ba --local-dir checkpoints/Cosmos3-Edge
export WAN_VAE_PATH=$PWD/checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth COSMOS3_EDGE_DIR=$PWD/checkpoints/Cosmos3-Edge

Installation, the policy servers and the evaluation of each benchmark are described in the GreenWAM repository.

License

The weights are released under the OpenMDW License 1.1, the license of Cosmos 3 Edge.

Citation

@misc{sidorov2026greenwamworldfoundationmodel,
  title         = {GreenWAM: A World Foundation Model for Robotics},
  author        = {Gennady Sidorov and Valerii Kornilov and Denis Grankin and Polina Fedotova and Aleksey Postnikov},
  year          = {2026},
  eprint        = {2610.18774},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2610.18774}
}