| |
| |
| |
| |
|
|
| output_dir: ${oc.env:W0_OUTPUT_DIR,outputs/libero/goal_long_r13/step_000600} |
| batch_size: 48 |
| num_workers: 4 |
| gc_collect_every: 1 |
| lr_scheduler_type: cosine |
| learning_rate: 5.0e-05 |
| soft_prompt_lr_scale: 1.0 |
| num_epochs: 10 |
| max_steps: null |
| log_every: 10 |
| save_every: 100 |
| keep_training_states: 1 |
| checkpoint_min_free_gib: 128 |
| eval_every: 50 |
| eval_num_inference_steps: 10 |
| gradient_accumulation_steps: 1 |
| mixed_precision: bf16 |
| seed: 42 |
| max_grad_norm: 1.0 |
| weight_decay: 0.0 |
| freeze_video_dit: false |
| resume: null |
| init_checkpoint: ${oc.env:W0_LIBERO_INIT_CHECKPOINT,checkpoints/libero_init_step_2640.pt} |
| init_soft_prompts: false |
| resume_global_batch_size: null |
| wandb: |
| enabled: false |
| workspace: null |
| project: w0 |
| name: w0-lib-gl-rf-c16-e10-32g-r13 |
| group: null |
| mode: online |
| data: |
| train: |
| _target_: w0.datasets.libero_posttrain.LiberoPosttrainDataset |
| dataset_root: ${oc.env:W0_LIBERO_DATA,data/libero} |
| is_training_set: true |
| samples_per_epoch: 100000 |
| epoch_sampling: random_frame |
| seed: 42 |
| val_set_proportion: 0.01 |
| pretrained_norm_stats: ${oc.env:W0_LIBERO_STATS,assets/libero/normalization.json} |
| max_action_offset: 15 |
| action_horizon: 64 |
| action_chunk_size: 16 |
| video_plan_horizon: 96 |
| action_video_freq_ratio: 8 |
| text_embedding_cache_dir: ${oc.env:W0_LIBERO_TEXT_CACHE,assets/libero/text_embeds_cache} |
| include_suites: |
| - libero_goal |
| - libero_10 |
| color_jitter: |
| enabled: false |
| brightness: 0.2 |
| contrast: 0.2 |
| saturation: 0.2 |
| hue: 0.0 |
| processor: |
| _target_: w0.datasets.libero_posttrain.LiberoPosttrainProcessor |
| stats_path: ${oc.env:W0_LIBERO_STATS,assets/libero/normalization.json} |
| val: |
| _target_: w0.datasets.libero_posttrain.LiberoPosttrainDataset |
| dataset_root: ${oc.env:W0_LIBERO_DATA,data/libero} |
| is_training_set: false |
| samples_per_epoch: 128 |
| epoch_sampling: random_frame |
| seed: 42 |
| val_set_proportion: 0.01 |
| pretrained_norm_stats: ${oc.env:W0_LIBERO_STATS,assets/libero/normalization.json} |
| max_action_offset: 15 |
| action_horizon: 64 |
| action_chunk_size: 16 |
| video_plan_horizon: 96 |
| action_video_freq_ratio: 8 |
| text_embedding_cache_dir: ${oc.env:W0_LIBERO_TEXT_CACHE,assets/libero/text_embeds_cache} |
| include_suites: |
| - libero_goal |
| - libero_10 |
| processor: |
| _target_: w0.datasets.libero_posttrain.LiberoPosttrainProcessor |
| stats_path: ${oc.env:W0_LIBERO_STATS,assets/libero/normalization.json} |
| color_jitter: |
| enabled: false |
| brightness: 0.2 |
| contrast: 0.2 |
| saturation: 0.2 |
| hue: 0.0 |
| model: |
| _target_: w0.runtime.create_w0 |
| model_id: ${oc.env:W0_WAN_MODEL_DIR,assets/wan22} |
| tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B |
| tokenizer_max_len: 128 |
| load_text_encoder: false |
| proprio_dim: 37 |
| redirect_common_files: true |
| mot_checkpoint_mixed_attn: true |
| action_dit_pretrained_path: null |
| skip_dit_load_from_pretrain: true |
| legacy_checkpoint_config: null |
| observation_encoder: dino |
| dino_config: |
| model_name: dinov3-vitb16-hf |
| weights_path: ${oc.env:W0_DINO_WEIGHTS,assets/dinov3-vitb16-pretrain-lvd1689m} |
| input_resolution: |
| - 384 |
| - 320 |
| feature_dim: 768 |
| patch_size: 16 |
| use_cls_token: false |
| normalize_features: false |
| encode_microbatch_size: 16 |
| checkpoint_observation_encoder_adapt: false |
| action_horizon: 64 |
| action_chunk_size: 16 |
| max_action_offset: 15 |
| action_train_timestep_mode: per_chunk |
| future_training_mode: idm |
| idm_video_cond_noise_prob: 0.5 |
| idm_checkpoint_full_layer: true |
| idm_checkpoint_layer_stride: 1 |
| action_obs_downsample_factor: 1 |
| chunk_kv_editor_num_queries: 32 |
| num_history_frames: 0 |
| action_video_read_mode: future |
| video_rope_frame_stride: 1 |
| video_dit_config: |
| compact_timestep_embedding: true |
| 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: true |
| video_attention_mask_mode: first_frame_causal |
| action_conditioned: false |
| action_dim: 37 |
| action_group_causal_mask_mode: group_diagonal |
| action_dit_config: |
| num_soft_prompts: 8 |
| soft_prompt_domains: |
| - libero/franka |
| soft_prompt_init_std: 0.02 |
| 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 |
| action_dim: 37 |
| 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 |
| autoregressive_teacher_forcing: true |
| action_chunk_size: 16 |
| action_teacher_forcing_mask_mode: stage1_chunkwise |
| use_gradient_checkpointing: true |
| 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 |
| lambda_action_prior: 1.0 |
| video_plan_horizon: 96 |
| video_action_stride: 8 |
| video_plan_steps: 10 |
| domain_registry_path: null |
| posttrain_required: true |
| posttrain_stats: ${oc.env:W0_LIBERO_STATS,assets/libero/normalization.json} |
| history_aware_batching: false |
| optimizer_group_max_numel: 200000000 |
|
|
