| accelerate: | |
| compute_environment: LOCAL_MACHINE | |
| distributed_type: DEEPSPEED | |
| num_machines: 1 | |
| num_processes: 2 | |
| mixed_precision: bf16 | |
| deepspeed_config: | |
| zero_stage: 2 | |
| gradient_accumulation_steps: 4 | |
| gradient_clipping: 1.0 | |
| offload_optimizer_device: none | |
| offload_param_device: none | |
| zero3_init_flag: false | |
| zero3_save_16bit_model: false | |
| model: | |
| architecture: | |
| type: dual_system | |
| action_dim: 20 | |
| bridge_type: cross_attn | |
| bridge_layers: | |
| - 3 | |
| - 7 | |
| - 11 | |
| - 15 | |
| - 19 | |
| - 23 | |
| - 26 | |
| - 29 | |
| video_backbone: | |
| name: ti2v_5b | |
| model_path: /mnt/data/wangyuran/Wan2.2-TI2V-5B | |
| action_backbone: | |
| dim: 768 | |
| ffn_dim: 3072 | |
| num_heads: 12 | |
| dataloader: | |
| type: robotwin | |
| dataset_dir: /mnt/data/wangyuran/RoboTwin2.0/dataset | |
| task_name: null | |
| robot: aloha-agilex | |
| variant: both | |
| action_mode: eef | |
| num_frames: 33 | |
| video_stride: 4 | |
| height: 480 | |
| width: 640 | |
| split: train | |
| val_ratio: 0.0 | |
| repeat: 1 | |
| window_stride: 1 | |
| multiview: true | |
| target_camera: head_camera | |
| camera_layout: | |
| - head_camera | |
| - front_camera | |
| - left_camera | |
| - right_camera | |
| action_stats_path: null | |
| max_val_samples: 500 | |
| train_tasks: null | |
| holdout_tasks: null | |
| val_variant: null | |
| training_strategy: | |
| lambda_video: 1.0 | |
| lambda_action: 1.0 | |
| freeze: | |
| - text_encoder | |
| - vae | |
| training: | |
| debug: false | |
| learning_rate: 0.0001 | |
| adam_betas: | |
| - 0.9 | |
| - 0.95 | |
| weight_decay: 0.01 | |
| max_grad_norm: 1.0 | |
| num_epochs: 5 | |
| max_steps: null | |
| batch_size: 16 | |
| gradient_accumulation_steps: 1 | |
| lr_scheduler: cosine | |
| warmup_ratio: 0.05 | |
| lr_min_ratio: 0.01 | |
| action_lr: null | |
| video_lr: null | |
| lora_lr: null | |
| use_gradient_checkpointing: true | |
| use_gradient_checkpointing_offload: false | |
| initialize_model_on_cpu: false | |
| max_timestep_boundary: 1.0 | |
| min_timestep_boundary: 0.0 | |
| lora_base_model: null | |
| lora_target_modules: q,k,v,o,ffn.0,ffn.2 | |
| lora_rank: 32 | |
| output_path: /mnt/data/wangyuran/openwam_checkpoints | |
| save_steps: 2000 | |
| keep_last_k_ckpts: 3 | |
| dataset_num_workers: 4 | |
| decoupled: | |
| enabled: false | |
| video_beta_a: 0.5 | |
| video_beta_b: 1.0 | |
| warmup_steps: 0 | |
| project: | |
| name: open-wam | |
| output_dir: outputs/${now:%Y-%m-%d_%H-%M-%S} | |
| seed: 42 | |
| wandb: | |
| project: open-wam | |
| run_name: null | |
| entity: null | |