| output_dir: ./runs/robotwin_joint_3cam_384_1e-4_ep10_clean_task_drop-10/2026-08-13_22-26-04 |
| batch_size: null |
| global_batch_size: 128 |
| num_workers: 8 |
| lr_scheduler_type: cosine |
| learning_rate: 0.0001 |
| num_epochs: 10 |
| max_steps: null |
| log_every: 10 |
| save_every: 10000 |
| save_state_every: 500000 |
| eval_every: 500 |
| eval_num_inference_steps: 10 |
| gradient_accumulation_steps: 1 |
| split_video_action_loss_backward: false |
| split_video_action_loss_mode: alternating_batches |
| mixed_precision: bf16 |
| seed: 42 |
| max_grad_norm: 1.0 |
| weight_decay: 0.01 |
| resume: null |
| sampling: |
| weighted: false |
| default_weight: 1.0 |
| combine: max |
| replacement: true |
| num_samples: null |
| rules: [] |
| overwrite_video_latents: false |
| video_latent_save_dtype: fp16 |
| video_latent_batch_size: 8 |
| video_latent_num_workers: 8 |
| wandb: |
| enabled: true |
| workspace: tehaji007 |
| project: fast-wam |
| name: robotwin_joint_3cam_384_1e-4_ep10_clean_task_drop-10 |
| group: null |
| mode: offline |
| data: |
| train: |
| _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset |
| dataset_dirs: |
| - ./data/robotwin2.0/robotwin2.0 |
| shape_meta: |
| images: |
| - key: cam_high |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| - key: cam_left_wrist |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| - key: cam_right_wrist |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| action: |
| - key: default |
| raw_shape: 14 |
| shape: 14 |
| state: |
| - key: default |
| raw_shape: 14 |
| shape: 14 |
| num_frames: 33 |
| global_sample_stride: 1 |
| action_video_freq_ratio: 4 |
| video_size: |
| - 384 |
| - 320 |
| camera_key: null |
| val_set_proportion: 0.01 |
| is_training_set: true |
| pretrained_norm_stats: ./data/robotwin2.0/dataset_stats.json |
| skip_padding_as_possible: false |
| concat_multi_camera: robotwin |
| use_precomputed_video_latents: true |
| video_latent_cache_dir: ./data/video_latents/robotwin_uncond_3cam_384_1e-4_all_tasks |
| strict_video_latent_loading: true |
| video_latent_storage_format: npz_compressed |
| video_latent_shard_size: 10000 |
| use_precomputed_metadata_cache: true |
| metadata_cache_dir: ./data/video_latents/robotwin_uncond_3cam_384_1e-4_all_tasks_metadata_cache |
| metadata_cache_shard_size: 10000 |
| subset_sample_indices_file: null |
| prompt_subset_file: null |
| robotwin_clean_only: true |
| robotwin_clean_group_size: 550 |
| robotwin_clean_episodes_per_group: 50 |
| robotwin_clean_random_select: false |
| robotwin_clean_random_seed: 0 |
| robotwin_clean_pool_episodes_per_group: 50 |
| processor: |
| _target_: fastwam.datasets.lerobot.processors.fastwam_processor.FastWAMProcessor |
| shape_meta: |
| images: |
| - key: cam_high |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| - key: cam_left_wrist |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| - key: cam_right_wrist |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| action: |
| - key: default |
| raw_shape: 14 |
| shape: 14 |
| state: |
| - key: default |
| raw_shape: 14 |
| shape: 14 |
| num_obs_steps: 33 |
| num_output_cameras: 3 |
| action_output_dim: 14 |
| proprio_output_dim: 14 |
| 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: |
| - 240 |
| - 320 |
| val_transforms: |
| - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor |
| - _target_: torchvision.transforms.Resize |
| size: |
| - 240 |
| - 320 |
| text_embedding_cache_dir: ./data/text_embeds_cache/robotwin |
| context_len: 128 |
| robotwin_drop_tasks: |
| - blocks_ranking_rgb |
| - click_bell |
| - handover_mic |
| - move_stapler_pad |
| - pick_diverse_bottles |
| - place_a2b_right |
| - place_can_basket |
| - place_object_stand |
| - shake_bottle_horizontally |
| - stack_bowls_three |
| robotwin_action_loss_drop_tasks: [] |
| val: |
| _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset |
| dataset_dirs: |
| - ./data/robotwin2.0/robotwin2.0/ |
| shape_meta: |
| images: |
| - key: cam_high |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| - key: cam_left_wrist |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| - key: cam_right_wrist |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| action: |
| - key: default |
| raw_shape: 14 |
| shape: 14 |
| state: |
| - key: default |
| raw_shape: 14 |
| shape: 14 |
| num_frames: 33 |
| global_sample_stride: 1 |
| action_video_freq_ratio: 4 |
| video_size: |
| - 384 |
| - 320 |
| camera_key: null |
| val_set_proportion: 0.01 |
| is_training_set: false |
| pretrained_norm_stats: ./data/robotwin2.0/dataset_stats.json |
| skip_padding_as_possible: false |
| concat_multi_camera: robotwin |
| use_precomputed_video_latents: false |
| video_latent_cache_dir: null |
| strict_video_latent_loading: true |
| video_latent_storage_format: npz_compressed |
| video_latent_shard_size: 10000 |
| use_precomputed_metadata_cache: false |
| metadata_cache_dir: null |
| metadata_cache_shard_size: 10000 |
| subset_sample_indices_file: null |
| prompt_subset_file: null |
| robotwin_clean_only: true |
| robotwin_clean_group_size: 550 |
| robotwin_clean_episodes_per_group: 50 |
| robotwin_clean_random_select: false |
| robotwin_clean_random_seed: 0 |
| robotwin_clean_pool_episodes_per_group: 50 |
| processor: |
| _target_: fastwam.datasets.lerobot.processors.fastwam_processor.FastWAMProcessor |
| shape_meta: |
| images: |
| - key: cam_high |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| - key: cam_left_wrist |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| - key: cam_right_wrist |
| raw_shape: |
| - 3 |
| - 480 |
| - 640 |
| shape: |
| - 3 |
| - 240 |
| - 320 |
| action: |
| - key: default |
| raw_shape: 14 |
| shape: 14 |
| state: |
| - key: default |
| raw_shape: 14 |
| shape: 14 |
| num_obs_steps: 33 |
| num_output_cameras: 3 |
| action_output_dim: 14 |
| proprio_output_dim: 14 |
| 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: |
| - 240 |
| - 320 |
| val_transforms: |
| - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor |
| - _target_: torchvision.transforms.Resize |
| size: |
| - 240 |
| - 320 |
| text_embedding_cache_dir: ./data/text_embeds_cache/robotwin |
| context_len: 128 |
| model: |
| _target_: fastwam.runtime.create_fastwam_joint |
| 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: 14 |
| 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 |
| keep_dit_layers: null |
| keep_dit_layer_indices: null |
| 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: 14 |
| action_group_causal_mask_mode: group_diagonal |
| action_dit_config: |
| action_dim: 14 |
| 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 |
|
|
