InternW0-Libero / checkpoint_metadata.json
SereneC's picture
Add files using upload-large-folder tool
f751b92 verified
Raw History Blame Contribute Delete
16 kB
{
"file": "InternW0-Libero.pt",
"source_checkpoint": "/data/shared/locomanip/caijisong/ckpt/libero_posttrain/release/libero/goal-long/r13/step_000600/step_000600.pt",
"size_bytes": 14705454471,
"sha256": "5f967259b1a8dfce90c871212630d3bc1945ce6ceb03dc96aae6c148891935c7",
"model_only": true,
"optimizer_state_included": false,
"step": 600,
"torch_dtype": "torch.bfloat16",
"tensor_count": 1977,
"parameter_elements": 7352528643,
"tensor_bytes": 14705057286,
"behavior_config": {
"schema_version": 4,
"num_soft_prompts": 8,
"domain_configs": [
{
"name": "libero/franka",
"dataset": "libero",
"embodiment": "franka",
"action_dim": 37,
"proprio_dim": 37,
"action_valid_indices": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"proprio_valid_indices": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"raw_eef_names": [
"eef_x",
"eef_y",
"eef_z",
"rot6d_col0_x",
"rot6d_col0_y",
"rot6d_col0_z",
"rot6d_col1_x",
"rot6d_col1_y",
"rot6d_col1_z",
"gripper_open_scale"
],
"action_semantics": "native_delta_eef10_row_aligned"
}
],
"soft_prompt_domains": [
"libero/franka"
],
"soft_prompt_layout": "per_chunk_prefix",
"soft_prompt_position_mode": "identity_rope",
"soft_prompt_timestep_mode": "follow_chunk",
"observation_encoder": "dino",
"dino_encoder": {
"model_name": "dinov3-vitb16-hf",
"weights_sha256": "1bde6e2cbdb2973afa32f8b000da32c7686c5be6d8e82399ac581f9bb35a1e50",
"input_resolution": [
384,
320
],
"feature_dim": 768,
"patch_size": 16,
"use_cls_token": false,
"normalize_features": false,
"preprocessing": "uint8_or_minus_one_one_to_imagenet_float32_no_resize",
"weights_hash_format": "hf_config_and_safetensors_v1"
},
"architecture": "ahawam_one_way_ovcr",
"action_video_read_mode": "future",
"video_cache_mode": "generated_future_last_denoise",
"action_position_unit": "action_step",
"video_rope_position_unit": "latent_frame",
"action_horizon": 64,
"action_chunk_size": 16,
"num_history_frames": 0,
"video_rope_frame_stride": null,
"video_attention_mask_mode": "first_frame_causal",
"video_action_conditioned": false,
"autoregressive_teacher_forcing": true,
"action_teacher_forcing_mask_mode": "stage1_chunkwise",
"action_obs_downsample_factor": 1,
"video_plan_horizon": 96,
"video_action_stride": 8,
"vae_temporal_downsample_factor": 4
},
"training_recipe": {
"version": 2,
"future_training_mode": "idm",
"max_action_offset": 15,
"data_offset_config": {
"train": {
"max_action_offset": 15,
"action_horizon": 64,
"action_chunk_size": 16,
"action_video_freq_ratio": 8,
"action_offset_enabled": true,
"domains": {
"version": 2,
"source_fps": 20,
"target_fps": 20,
"stride": 1,
"phases": [
0
],
"action_horizon": 64,
"action_chunk_size": 16,
"max_action_offset": 15,
"video_plan_horizon": 96,
"num_history_frames": 0,
"short_episodes": "pad_mask",
"slots": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"domain": {
"name": "libero/franka",
"dataset": "libero",
"embodiment": "franka",
"action_dim": 37,
"proprio_dim": 37,
"action_valid_indices": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"proprio_valid_indices": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"raw_eef_names": [
"eef_x",
"eef_y",
"eef_z",
"rot6d_col0_x",
"rot6d_col0_y",
"rot6d_col0_z",
"rot6d_col1_x",
"rot6d_col1_y",
"rot6d_col1_z",
"gripper_open_scale"
],
"action_semantics": "native_delta_eef10_row_aligned"
},
"rot6d_identity_dims": [
3,
4,
5,
6,
7,
8
],
"gripper_convention": "minus1_closed_plus1_open",
"gripper_source_osc7": "binary01_open",
"output_representation": "native_delta_eef10",
"normalization": "bounds_q99_minmax_degenerate_clip5_rot6d_identity",
"sigma": 1e-08,
"camera_layout": "disk_native_cover_center_crop_main_top_wrist_bottom_left_384x320",
"text": "episode_first_instruction_default_prompt_128_wan22ti2v5b",
"metadata_sha256": "70abc28c58cce7f9f616979b28d0beaabf92dd65b107392c206020873dd8bbe4",
"split_seed": 42,
"val_set_proportion": 0.01,
"source_representation": "libero_osc7",
"stats_sha256": "9f63fc9ad9208515358ae560b4b9eec192b7f99f5ce815bf049bad3b269b0301",
"text_embedding_cache_dir": "/data/shared/caijisong/ckpt/libero_posttrain/assets/text_embeds_cache",
"dataset_roots": [
"/data/shared/caijisong/data/LIBERO-fastwam/libero_10_no_noops_lerobot",
"/data/shared/caijisong/data/LIBERO-fastwam/libero_goal_no_noops_lerobot",
"/data/shared/caijisong/data/LIBERO-fastwam/libero_object_no_noops_lerobot",
"/data/shared/caijisong/data/LIBERO-fastwam/libero_spatial_no_noops_lerobot"
],
"include_suites": [
"libero_goal",
"libero_10"
],
"anchor_sampling": "random_frames_global_with_episode_end_padding_v1",
"samples_per_epoch": 100000
}
},
"val": {
"max_action_offset": 15,
"action_horizon": 64,
"action_chunk_size": 16,
"action_video_freq_ratio": 8,
"action_offset_enabled": true,
"domains": {
"version": 2,
"source_fps": 20,
"target_fps": 20,
"stride": 1,
"phases": [
0
],
"action_horizon": 64,
"action_chunk_size": 16,
"max_action_offset": 15,
"video_plan_horizon": 96,
"num_history_frames": 0,
"short_episodes": "pad_mask",
"slots": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"domain": {
"name": "libero/franka",
"dataset": "libero",
"embodiment": "franka",
"action_dim": 37,
"proprio_dim": 37,
"action_valid_indices": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"proprio_valid_indices": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"raw_eef_names": [
"eef_x",
"eef_y",
"eef_z",
"rot6d_col0_x",
"rot6d_col0_y",
"rot6d_col0_z",
"rot6d_col1_x",
"rot6d_col1_y",
"rot6d_col1_z",
"gripper_open_scale"
],
"action_semantics": "native_delta_eef10_row_aligned"
},
"rot6d_identity_dims": [
3,
4,
5,
6,
7,
8
],
"gripper_convention": "minus1_closed_plus1_open",
"gripper_source_osc7": "binary01_open",
"output_representation": "native_delta_eef10",
"normalization": "bounds_q99_minmax_degenerate_clip5_rot6d_identity",
"sigma": 1e-08,
"camera_layout": "disk_native_cover_center_crop_main_top_wrist_bottom_left_384x320",
"text": "episode_first_instruction_default_prompt_128_wan22ti2v5b",
"metadata_sha256": "70abc28c58cce7f9f616979b28d0beaabf92dd65b107392c206020873dd8bbe4",
"split_seed": 42,
"val_set_proportion": 0.01,
"source_representation": "libero_osc7",
"stats_sha256": "9f63fc9ad9208515358ae560b4b9eec192b7f99f5ce815bf049bad3b269b0301",
"text_embedding_cache_dir": "/data/shared/caijisong/ckpt/libero_posttrain/assets/text_embeds_cache",
"dataset_roots": [
"/data/shared/caijisong/data/LIBERO-fastwam/libero_10_no_noops_lerobot",
"/data/shared/caijisong/data/LIBERO-fastwam/libero_goal_no_noops_lerobot",
"/data/shared/caijisong/data/LIBERO-fastwam/libero_object_no_noops_lerobot",
"/data/shared/caijisong/data/LIBERO-fastwam/libero_spatial_no_noops_lerobot"
],
"include_suites": [
"libero_goal",
"libero_10"
],
"anchor_sampling": "random_frames_global_with_episode_end_padding_v1",
"samples_per_epoch": 128
}
}
},
"idm_video_cond_noise_prob": 0.5,
"idm_checkpoint_full_layer": true,
"idm_checkpoint_layer_stride": 1,
"video_scheduler": {
"type": "ahawam.models.wan22.schedulers.scheduler_continuous.WanContinuousFlowMatchScheduler",
"shift": 5.0,
"num_train_timesteps": 1000
},
"action_scheduler": {
"type": "ahawam.models.wan22.schedulers.scheduler_continuous.WanContinuousFlowMatchScheduler",
"shift": 5.0,
"num_train_timesteps": 1000
},
"loss_lambda_video": 1.0,
"loss_lambda_action_prior": 1.0,
"action_timestep_mode": "per_chunk",
"soft_prompt_training": {
"lr_scale": 1.0,
"schedule": "per_group_relative_v1",
"init_std": 0.02
}
},
"posttrain_statistics": {
"recipe": {
"version": 2,
"source_fps": 20,
"target_fps": 20,
"stride": 1,
"phases": [
0
],
"action_horizon": 64,
"action_chunk_size": 16,
"max_action_offset": 15,
"video_plan_horizon": 96,
"num_history_frames": 0,
"short_episodes": "pad_mask",
"slots": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"domain": {
"name": "libero/franka",
"dataset": "libero",
"embodiment": "franka",
"action_dim": 37,
"proprio_dim": 37,
"action_valid_indices": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"proprio_valid_indices": [
7,
8,
9,
10,
11,
12,
13,
14,
15,
16
],
"raw_eef_names": [
"eef_x",
"eef_y",
"eef_z",
"rot6d_col0_x",
"rot6d_col0_y",
"rot6d_col0_z",
"rot6d_col1_x",
"rot6d_col1_y",
"rot6d_col1_z",
"gripper_open_scale"
],
"action_semantics": "native_delta_eef10_row_aligned"
},
"rot6d_identity_dims": [
3,
4,
5,
6,
7,
8
],
"gripper_convention": "minus1_closed_plus1_open",
"gripper_source_osc7": "binary01_open",
"output_representation": "native_delta_eef10",
"normalization": "bounds_q99_minmax_degenerate_clip5_rot6d_identity",
"sigma": 1e-08,
"camera_layout": "disk_native_cover_center_crop_main_top_wrist_bottom_left_384x320",
"text": "episode_first_instruction_default_prompt_128_wan22ti2v5b"
},
"metadata_sha256": "70abc28c58cce7f9f616979b28d0beaabf92dd65b107392c206020873dd8bbe4",
"split_seed": 42,
"val_set_proportion": 0.01,
"train_episodes": 1698,
"validation_episodes": 14,
"position_selection": "union_all_native_ticks_no_padding",
"quantile_method": "exact_numpy_linear",
"rot6d_identity_dims": [
3,
4,
5,
6,
7,
8
],
"dataset_roots": [
"/home/wameai/caijisong/data/LIBERO-fastwam/libero_10_no_noops_lerobot",
"/home/wameai/caijisong/data/LIBERO-fastwam/libero_goal_no_noops_lerobot",
"/home/wameai/caijisong/data/LIBERO-fastwam/libero_object_no_noops_lerobot",
"/home/wameai/caijisong/data/LIBERO-fastwam/libero_spatial_no_noops_lerobot"
],
"action": {
"q01": [
-0.7071428298950195,
-0.7982142567634583,
-0.9375,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"q99": [
0.9375,
0.8732143044471741,
0.9375,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"minmax_bounds": {},
"valid_count": [
276004,
276004,
276004,
276004,
276004,
276004,
276004,
276004,
276004,
276004
]
},
"proprio": {
"q01": [
-0.3985055512189865,
-0.2699440824985504,
0.03972413107752801,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-0.9041875767707824
],
"q99": [
0.13515015527606003,
0.3329678702354428,
1.2700117683410643,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"minmax_bounds": {},
"valid_count": [
276004,
276004,
276004,
276004,
276004,
276004,
276004,
276004,
276004,
276004
]
}
},
"posttrain_provenance": {
"source": "/home/wameai/caijisong/ckpt/robotwin_posttrain/assets/rlh_step30000",
"global_step": 30000,
"domain_names": [
"interndata/franka_panda",
"interndata/franka_robotiq85",
"interndata/genie1",
"interndata/lift2",
"interndata/split_aloha",
"interndata/acone",
"agibotworld/g1_gripper",
"galaxea/r1lite",
"ebench/lift2_long_horizon",
"robodojo/dual_arx_x5",
"robomind/agilex",
"robomind/franka",
"robomind/franka_fr3_dual",
"robomind/ur",
"robocoin/agibot_g1_profile5",
"robocoin/agibot_g1_profile6",
"robocoin/cobot_magic_profile7",
"robocoin/galbot_g1",
"robocoin/r1lite",
"robocoin/rmc_aida_l",
"robocoin/split_aloha_profile20",
"robocoin/tianqin_a2",
"agibotworld/g1_tactile",
"ebench/lift2_simple_pnp",
"ebench/lift2_teleop_tasks",
"robocoin/cobot_magic_profile8",
"robocoin/cobot_magic_profile9",
"robocoin/cobot_magic_profile10",
"robocoin/cobot_magic_profile11",
"robocoin/split_aloha_profile21"
],
"source_format": "rlh-fastwam-canonical-2",
"source_checkpoint": "/nvme/datahub/tmp/caozhe/aha-wam-pretrain/w0-37d-sixsrc-b16-s43-384gpu-bf16-a40-20260917-r5-proprio-sharded/checkpoints/dcp/30000",
"strategy": "new_domain",
"seed": 42,
"proprio_init": "new_domain",
"proprio_source_domain": null
}
}