| --- |
| tags: |
| - mimic-video |
| - robotics |
| - action-prediction |
| --- |
| |
| # VAM-Cross MimicVideo World2Action decoder |
|
|
| This public repository contains the World2Action decoder checkpoint from |
| iteration 1800 of `w2a_panda_widowx_level2_widowx_texture_2cam_hstack_action_iter2374_videolora_iter200_widowx_teleop_recording_frame_v1`. The run stopped |
| because of `unknown`. The newest complete model, |
| optimizer, scheduler, and trainer checkpoint set was verified before selecting |
| the uploaded model weight. |
|
|
| ## Required frozen inputs |
|
|
| - MimicVideo commit: `e3355dbc93132b576c02f920a59b4fc18a4f5906` |
| - Initial Video2World backbone: `dreamdifferent/widowx250-video-fused@f0cea76b62c5dd66b06b9f965932ddea32a7b546` |
| - Initial action decoder: `dreamdifferent/vam-cross-target-widowx250-native-2cam-action-decoder@93750cccda01620e3c028477e4c49bc5c996a68d` |
| - Frozen Video LoRA: `dreamdifferent/vam-cross-level2-panda-widowx-widowx-texture-video-lora-iter200@5a22b23f6f4bf80b249d6215d15260b7b59acbcf` |
|
|
| ## Action and data contract |
|
|
| - Dataset: `dreamdifferent/vam-cross-level2-panda-widowx-widowx-texture@994be7f8952807008c316db7943ec732bf70b978` |
| - Episodes/frames: 256 / 54349 |
| - Cameras: `observation.images.corner_cam, observation.images.front_cam` |
| - Target: 15 achieved-EE/gripper actions at 5 Hz |
| - Pose target: `relative_to_current_achieved_pose` in `widowx_reference_base/teleop_aligned_tool` |
| - Rotation: `rotation_6d` |
|
|
| The dataset and frozen inputs are not included. Use the pinned JSON and |
| effective `config.yaml` included in this repository. |
|
|
