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