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config.yaml

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+output_dir: /data/rlwrld-unified-checkpoints/heeseung/checkpoints/fastwam_egodex_uncond_1cam320_1e-4
+batch_size: 16
+num_workers: 8
+prefetch_factor: 4
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+num_epochs: 1
+max_steps: 30000
+log_every: 10
+save_every: 5000
+eval_every: 200
+eval_num_inference_steps: 10
+gradient_accumulation_steps: 3
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+weight_decay: 0.01
+resume: null
+wandb:
+  enabled: true
+  workspace: null
+  project: fast-wam
+  name: egodex_uncond_1cam320_1e-4
+  group: null
+  mode: online
+data:
+  train:
+    _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset
+    dataset_dirs:
+    - /data/heeseung/datasets/egodex_human_hands_26task/add_remove_lid
+    - /data/heeseung/datasets/egodex_human_hands_26task/arrange_topple_dominoes
+    - /data/heeseung/datasets/egodex_human_hands_26task/assemble_disassemble_legos
+    - /data/heeseung/datasets/egodex_human_hands_26task/assemble_disassemble_soft_legos
+    - /data/heeseung/datasets/egodex_human_hands_26task/assemble_disassemble_structures
+    - /data/heeseung/datasets/egodex_human_hands_26task/assemble_disassemble_tiles
+    - /data/heeseung/datasets/egodex_human_hands_26task/assemble_jenga
+    - /data/heeseung/datasets/egodex_human_hands_26task/boil_serve_egg
+    - /data/heeseung/datasets/egodex_human_hands_26task/braid_unbraid
+    - /data/heeseung/datasets/egodex_human_hands_26task/build_unstack_lego
+    - /data/heeseung/datasets/egodex_human_hands_26task/charge_uncharge_airpods
+    - /data/heeseung/datasets/egodex_human_hands_26task/charge_uncharge_device
+    - /data/heeseung/datasets/egodex_human_hands_26task/clean_cups
+    - /data/heeseung/datasets/egodex_human_hands_26task/clean_surface
+    - /data/heeseung/datasets/egodex_human_hands_26task/clean_tableware
+    - /data/heeseung/datasets/egodex_human_hands_26task/clip_unclip_papers
+    - /data/heeseung/datasets/egodex_human_hands_26task/color
+    - /data/heeseung/datasets/egodex_human_hands_26task/crumple_flatten_paper
+    - /data/heeseung/datasets/egodex_human_hands_26task/deal_gather_cards
+    - /data/heeseung/datasets/egodex_human_hands_26task/declutter_desk
+    - /data/heeseung/datasets/egodex_human_hands_26task/dry_hands
+    - /data/heeseung/datasets/egodex_human_hands_26task/fidget_magnetic_spinner_rings
+    - /data/heeseung/datasets/egodex_human_hands_26task/flip_coin
+    - /data/heeseung/datasets/egodex_human_hands_26task/flip_pages
+    - /data/heeseung/datasets/egodex_human_hands_26task/fry_bread
+    - /data/heeseung/datasets/egodex_human_hands_26task/fry_egg
+    shape_meta:
+      images:
+      - key: base
+        lerobot_key: observation.images.base
+        raw_shape:
+        - 3
+        - 180
+        - 320
+        shape:
+        - 3
+        - 192
+        - 320
+      action:
+      - key: default
+        lerobot_key: action
+        raw_shape: 44
+        shape: 44
+      state:
+      - key: default
+        lerobot_key: observation.state
+        raw_shape: 44
+        shape: 44
+    num_frames: 33
+    global_sample_stride: 1
+    action_video_freq_ratio: 4
+    video_size:
+    - 192
+    - 320
+    camera_key: null
+    val_set_proportion: 0.0
+    is_training_set: true
+    skip_padding_as_possible: false
+    concat_multi_camera: horizontal
+    processor:
+      _target_: fastwam.datasets.lerobot.processors.fastwam_processor.FastWAMProcessor
+      shape_meta:
+        images:
+        - key: base
+          lerobot_key: observation.images.base
+          raw_shape:
+          - 3
+          - 180
+          - 320
+          shape:
+          - 3
+          - 192
+          - 320
+        action:
+        - key: default
+          lerobot_key: action
+          raw_shape: 44
+          shape: 44
+        state:
+        - key: default
+          lerobot_key: observation.state
+          raw_shape: 44
+          shape: 44
+      num_obs_steps: 33
+      num_output_cameras: 1
+      action_output_dim: 44
+      proprio_output_dim: 44
+      action_state_transforms: null
+      use_stepwise_action_norm: false
+      norm_default_mode: z-score
+      norm_exception_mode: null
+      action_state_merger:
+        _target_: fastwam.datasets.lerobot.transforms.action_state_merger.ConcatLeftAlign
+      train_transforms:
+      - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 192
+        - 320
+      val_transforms:
+      - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 192
+        - 320
+    text_embedding_cache_dir: ./data/text_embeds_cache/egodex_26dir_1cam320
+    context_len: 128
+model:
+  _target_: fastwam.runtime.create_fastwam
+  model_id: Wan-AI/Wan2.2-TI2V-5B
+  tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B
+  tokenizer_max_len: 128
+  load_text_encoder: false
+  proprio_dim: 44
+  redirect_common_files: false
+  mot_checkpoint_mixed_attn: false
+  action_dit_pretrained_path: checkpoints/ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt
+  skip_dit_load_from_pretrain: false
+  video_dit_config:
+    has_image_input: false
+    patch_size:
+    - 1
+    - 2
+    - 2
+    in_dim: 48
+    hidden_dim: 3072
+    ffn_dim: 14336
+    freq_dim: 256
+    text_dim: 4096
+    out_dim: 48
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers: 30
+    eps: 1.0e-06
+    seperated_timestep: true
+    require_clip_embedding: false
+    require_vae_embedding: false
+    fuse_vae_embedding_in_latents: true
+    use_gradient_checkpointing: false
+    video_attention_mask_mode: first_frame_causal
+    action_conditioned: false
+    action_dim: 44
+    action_group_causal_mask_mode: group_diagonal
+  action_dit_config:
+    action_dim: 44
+    hidden_dim: 1024
+    ffn_dim: 4096
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers: 30
+    text_dim: 4096
+    freq_dim: 256
+    eps: 1.0e-06
+    use_gradient_checkpointing: false
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_action: 1.0