# Historical resolved RoboTwin Clean2Random training config.
# Private filesystem paths are normalized to portable environment variables;
# numerical and training values are unchanged.

output_dir: ${oc.env:W0_OUTPUT_DIR,outputs}/robotwin/source_0919r5
batch_size: 12
num_workers: 4
gc_collect_every: 1
lr_scheduler_type: cosine
learning_rate: 3.0e-05
soft_prompt_lr_scale: 1.0
num_epochs: 15
max_steps: null
log_every: 10
save_every: 2500
keep_training_states: 1
checkpoint_min_free_gib: 128
eval_every: 500
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: ${oc.env:W0_ROBOTWIN_SOURCE_RESUME_STATE,checkpoints/source/step_005000}
init_checkpoint: null
init_soft_prompts: false
resume_global_batch_size: null
wandb:
  enabled: false
  workspace: null
  project: ahawam
  name: w0-cln-cj02-s2-64g-dh-0919r5
  group: null
  mode: online
data:
  train:
    _target_: w0.datasets.robotwin_posttrain.RobotwinPosttrainDataset
    dataset_root: ${oc.env:W0_ROBOTWIN_DATA,data/robotwin}
    is_training_set: true
    samples_per_epoch: null
    seed: 42
    val_set_proportion: 0.01
    pretrained_norm_stats: ${oc.env:W0_ROBOTWIN_STATS,assets/robotwin/normalization.json}
    max_action_offset: 0
    action_horizon: 64
    action_chunk_size: 16
    video_plan_horizon: 96
    action_video_freq_ratio: 8
    sampling_stride: 2
    color_jitter:
      enabled: true
      brightness: 0.2
      contrast: 0.2
      saturation: 0.2
      hue: 0.0
    processor:
      _target_: w0.datasets.robotwin_posttrain.RobotwinPosttrainProcessor
      stats_path: ${oc.env:W0_ROBOTWIN_STATS,assets/robotwin/normalization.json}
    epoch_sampling: all_valid_windows
  val:
    _target_: w0.datasets.robotwin_posttrain.RobotwinPosttrainDataset
    dataset_root: ${oc.env:W0_ROBOTWIN_DATA,data/robotwin}
    is_training_set: false
    samples_per_epoch: 128
    seed: 42
    val_set_proportion: 0.01
    pretrained_norm_stats: ${oc.env:W0_ROBOTWIN_STATS,assets/robotwin/normalization.json}
    max_action_offset: 0
    action_horizon: 64
    action_chunk_size: 16
    video_plan_horizon: 96
    action_video_freq_ratio: 8
    sampling_stride: 2
    processor:
      _target_: w0.datasets.robotwin_posttrain.RobotwinPosttrainProcessor
      stats_path: ${oc.env:W0_ROBOTWIN_STATS,assets/robotwin/normalization.json}
    color_jitter:
      enabled: true
      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: 0
  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:
    - robotwin_wam/aloha
    soft_prompt_init_std: 0.02
    domain_configs:
    - name: robotwin_wam/aloha
      dataset: robotwin_wam
      embodiment: aloha
      action_dim: 37
      proprio_dim: 37
      action_valid_indices:
      - 0
      - 1
      - 2
      - 3
      - 4
      - 5
      - 16
      - 17
      - 18
      - 19
      - 20
      - 21
      - 22
      - 33
      proprio_valid_indices:
      - 0
      - 1
      - 2
      - 3
      - 4
      - 5
      - 16
      - 17
      - 18
      - 19
      - 20
      - 21
      - 22
      - 33
      raw_joint_names:
      - left_waist
      - left_shoulder
      - left_elbow
      - left_forearm_roll
      - left_wrist_angle
      - left_wrist_rotate
      - left_gripper
      - right_waist
      - right_shoulder
      - right_elbow
      - right_forearm_roll
      - right_wrist_angle
      - right_wrist_rotate
      - right_gripper
      action_semantics: native_absolute_joint_command_interval_end
    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_ROBOTWIN_STATS,assets/robotwin/normalization.json}
history_aware_batching: false
optimizer_group_max_numel: 200000000