output_dir: ./runs/robotwin_clean_uncond_3cam_384_1e-4/2026-06-19_17-50-19 batch_size: 8 num_workers: 8 lr_scheduler_type: cosine learning_rate: 0.0001 num_epochs: 1 max_steps: 30000 log_every: 10 save_every: 2500 eval_every: 500 eval_num_inference_steps: 10 gradient_accumulation_steps: 2 mixed_precision: bf16 seed: 42 max_grad_norm: 1.0 weight_decay: 0.01 resume: null wandb: enabled: false workspace: null project: fast-wam name: train group: null mode: online swanlab: enabled: true workspace: null project: fast-wam name: robotwin_clean_uncond_3cam_384_1e-4 group: null description: null mode: online logdir: null data: train: _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset dataset_dirs: - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/adjust_bottle - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/beat_block_hammer - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/blocks_ranking_rgb - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/blocks_ranking_size - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/click_alarmclock - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/click_bell - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/dump_bin_bigbin - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/grab_roller - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/handover_block - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/handover_mic - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/hanging_mug - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/lift_pot - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/move_can_pot - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/move_pillbottle_pad - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/move_playingcard_away - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/move_stapler_pad - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/open_laptop - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/open_microwave - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/pick_diverse_bottles - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/pick_dual_bottles - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_a2b_left - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_a2b_right - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_bread_basket - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_bread_skillet - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_burger_fries - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_can_basket - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_cans_plasticbox - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_container_plate - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_dual_shoes - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_empty_cup - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_fan - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_mouse_pad - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_object_basket - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_object_scale - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_object_stand - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_phone_stand - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_shoe - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/press_stapler - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/put_bottles_dustbin - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/put_object_cabinet - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/rotate_qrcode - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/scan_object - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/shake_bottle - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/shake_bottle_horizontally - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stack_blocks_three - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stack_blocks_two - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stack_bowls_three - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stack_bowls_two - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stamp_seal - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/turn_switch 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: null skip_padding_as_possible: false concat_multi_camera: robotwin 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_clean context_len: 128 val: _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset dataset_dirs: - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/adjust_bottle - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/beat_block_hammer - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/blocks_ranking_rgb - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/blocks_ranking_size - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/click_alarmclock - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/click_bell - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/dump_bin_bigbin - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/grab_roller - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/handover_block - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/handover_mic - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/hanging_mug - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/lift_pot - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/move_can_pot - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/move_pillbottle_pad - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/move_playingcard_away - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/move_stapler_pad - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/open_laptop - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/open_microwave - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/pick_diverse_bottles - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/pick_dual_bottles - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_a2b_left - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_a2b_right - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_bread_basket - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_bread_skillet - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_burger_fries - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_can_basket - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_cans_plasticbox - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_container_plate - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_dual_shoes - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_empty_cup - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_fan - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_mouse_pad - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_object_basket - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_object_scale - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_object_stand - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_phone_stand - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/place_shoe - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/press_stapler - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/put_bottles_dustbin - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/put_object_cabinet - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/rotate_qrcode - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/scan_object - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/shake_bottle - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/shake_bottle_horizontally - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stack_blocks_three - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stack_blocks_two - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stack_bowls_three - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stack_bowls_two - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/stamp_seal - /mnt/netdata/Team/Personal/zzt/data/RoboTwin-Clean/turn_switch 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: null skip_padding_as_possible: false concat_multi_camera: robotwin 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_clean 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: 14 redirect_common_files: true 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: 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