Delta Flow — Humanoid Benchmark
Delta Flow (ImageWAM / HumanWAM whole-body delta-flow policy) checkpoints for Humanoid Benchmark tasks.
Benchmark checkpoints use the same layout as humanoid-benchmark/groot and humanoid-benchmark/pi05:
<task-dir>/epoch-XXX/ with task folders b6-pedal-bin, a3-fridge-open, a7-cabinet-close, a18-pour-water,
a10-trolley-push, a20-basket-transfer, a17-unscrew-bottle. The benchmark training round of Delta Flow is
scheduled; its task folders appear here as each run finishes.
legacy/ holds earlier experiments that do NOT follow the benchmark protocol (different data, augmentation or input
dimensions). Do not use them as benchmark baselines; see legacy/README.md.