W2-VLA

Official model releases for W2-VLA, World-to-Wrist: Task-Conditioned Future Wrist Modeling for Fine-Grained Robot Manipulation.

Models

Benchmark	Checkpoint directory
LIBERO	LIBERO/

Download

hf download yuuu94/W2-VLA \
  --include "LIBERO/*" \
  --local-dir playground/Pretrained_models/W2-VLA

See the W2-VLA repository for training and evaluation instructions.

Citation

@misc{pan2026worldtowristtaskconditionedfuturewrist,
  title         = {World-to-Wrist: Task-Conditioned Future Wrist Modeling for Fine-Grained Robot Manipulation},
  author        = {Yuhao Pan and Haosong Peng and Zhengshen Zhang and Zhengyang Yan and Yalun Dai and Fushuo Huo and Chujie Wang and Tianyu Qi and Xiucheng Wang and Nan Cheng and Wenchao Xu},
  year          = {2026},
  eprint        = {2608.05369},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2608.05369}
}