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Add recovered wam/config.yaml

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  1. wam/config.yaml +556 -0
wam/config.yaml ADDED
@@ -0,0 +1,556 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ output_dir: /mnt/kai_ckp/cogwam/runs/memory_first_layer_only/robotwin_gt_depth_ee_subtask_uncond_3cam_384_1e-4/2026-08-18_14-40-47
2
+ batch_size: 6
3
+ num_workers: 8
4
+ lr_scheduler_type: cosine
5
+ learning_rate: 0.0001
6
+ num_epochs: 5
7
+ max_steps: 30000
8
+ log_every: 10
9
+ save_every: 2500
10
+ eval_every: 0
11
+ eval_num_inference_steps: 10
12
+ gradient_accumulation_steps: 2
13
+ mixed_precision: bf16
14
+ seed: 42
15
+ max_grad_norm: 1.0
16
+ weight_decay: 0.01
17
+ resume: null
18
+ wandb:
19
+ enabled: false
20
+ workspace: null
21
+ project: fast-wam
22
+ name: robotwin_gt_depth_ee_subtask_uncond_3cam_384_1e-4
23
+ group: null
24
+ mode: online
25
+ data:
26
+ dataset_root: /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee
27
+ train:
28
+ _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset
29
+ dataset_dirs:
30
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/adjust_bottle-aloha-agilex_clean_50
31
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/adjust_bottle-aloha-agilex_randomized_500
32
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/beat_block_hammer-aloha-agilex_clean_50
33
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/beat_block_hammer-aloha-agilex_randomized_500
34
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/blocks_ranking_rgb-aloha-agilex_clean_50
35
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/blocks_ranking_rgb-aloha-agilex_randomized_500
36
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/blocks_ranking_size-aloha-agilex_clean_50
37
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/blocks_ranking_size-aloha-agilex_randomized_500
38
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/click_alarmclock-aloha-agilex_clean_50
39
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/click_alarmclock-aloha-agilex_randomized_500
40
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/click_bell-aloha-agilex_clean_50
41
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/click_bell-aloha-agilex_randomized_500
42
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/dump_bin_bigbin-aloha-agilex_clean_50
43
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/dump_bin_bigbin-aloha-agilex_randomized_500
44
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/grab_roller-aloha-agilex_clean_50
45
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/grab_roller-aloha-agilex_randomized_500
46
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/handover_block-aloha-agilex_clean_50
47
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/handover_block-aloha-agilex_randomized_500
48
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/handover_mic-aloha-agilex_clean_50
49
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/handover_mic-aloha-agilex_randomized_500
50
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/hanging_mug-aloha-agilex_clean_50
51
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/hanging_mug-aloha-agilex_randomized_500
52
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/lift_pot-aloha-agilex_clean_50
53
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/lift_pot-aloha-agilex_randomized_500
54
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/move_can_pot-aloha-agilex_clean_50
55
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/move_can_pot-aloha-agilex_randomized_500
56
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/move_pillbottle_pad-aloha-agilex_clean_50
57
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/move_pillbottle_pad-aloha-agilex_randomized_500
58
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/move_playingcard_away-aloha-agilex_clean_50
59
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/move_playingcard_away-aloha-agilex_randomized_500
60
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/move_stapler_pad-aloha-agilex_clean_50
61
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/move_stapler_pad-aloha-agilex_randomized_500
62
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/open_laptop-aloha-agilex_clean_50
63
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/open_laptop-aloha-agilex_randomized_500
64
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/open_microwave-aloha-agilex_clean_50
65
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/open_microwave-aloha-agilex_randomized_500
66
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/pick_diverse_bottles-aloha-agilex_clean_50
67
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/pick_diverse_bottles-aloha-agilex_randomized_500
68
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/pick_dual_bottles-aloha-agilex_clean_50
69
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/pick_dual_bottles-aloha-agilex_randomized_500
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+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_a2b_left-aloha-agilex_clean_50
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+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_a2b_left-aloha-agilex_randomized_500
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+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_a2b_right-aloha-agilex_clean_50
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+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_a2b_right-aloha-agilex_randomized_500
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+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_bread_basket-aloha-agilex_clean_50
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+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_bread_basket-aloha-agilex_randomized_500
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+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_bread_skillet-aloha-agilex_clean_50
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+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_bread_skillet-aloha-agilex_randomized_500
78
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_burger_fries-aloha-agilex_clean_50
79
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_burger_fries-aloha-agilex_randomized_500
80
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_can_basket-aloha-agilex_clean_50
81
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_can_basket-aloha-agilex_randomized_500
82
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_cans_plasticbox-aloha-agilex_clean_50
83
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_cans_plasticbox-aloha-agilex_randomized_500
84
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_container_plate-aloha-agilex_clean_50
85
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_container_plate-aloha-agilex_randomized_500
86
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_dual_shoes-aloha-agilex_clean_50
87
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_dual_shoes-aloha-agilex_randomized_500
88
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_empty_cup-aloha-agilex_clean_50
89
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_empty_cup-aloha-agilex_randomized_500
90
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_fan-aloha-agilex_clean_50
91
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_fan-aloha-agilex_randomized_500
92
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_mouse_pad-aloha-agilex_clean_50
93
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_mouse_pad-aloha-agilex_randomized_500
94
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_object_basket-aloha-agilex_clean_50
95
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_object_basket-aloha-agilex_randomized_500
96
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_object_scale-aloha-agilex_clean_50
97
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_object_scale-aloha-agilex_randomized_500
98
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_object_stand-aloha-agilex_clean_50
99
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_object_stand-aloha-agilex_randomized_500
100
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_phone_stand-aloha-agilex_clean_50
101
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_phone_stand-aloha-agilex_randomized_500
102
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_shoe-aloha-agilex_clean_50
103
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/place_shoe-aloha-agilex_randomized_500
104
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/press_stapler-aloha-agilex_clean_50
105
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/press_stapler-aloha-agilex_randomized_500
106
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/put_bottles_dustbin-aloha-agilex_clean_50
107
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/put_bottles_dustbin-aloha-agilex_randomized_500
108
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/put_object_cabinet-aloha-agilex_clean_50
109
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/put_object_cabinet-aloha-agilex_randomized_500
110
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/rotate_qrcode-aloha-agilex_clean_50
111
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/rotate_qrcode-aloha-agilex_randomized_500
112
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/scan_object-aloha-agilex_clean_50
113
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/scan_object-aloha-agilex_randomized_500
114
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/shake_bottle-aloha-agilex_clean_50
115
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/shake_bottle-aloha-agilex_randomized_500
116
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/shake_bottle_horizontally-aloha-agilex_clean_50
117
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/shake_bottle_horizontally-aloha-agilex_randomized_500
118
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stack_blocks_three-aloha-agilex_clean_50
119
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stack_blocks_three-aloha-agilex_randomized_500
120
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stack_blocks_two-aloha-agilex_clean_50
121
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stack_blocks_two-aloha-agilex_randomized_500
122
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stack_bowls_three-aloha-agilex_clean_50
123
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stack_bowls_three-aloha-agilex_randomized_500
124
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stack_bowls_two-aloha-agilex_clean_50
125
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stack_bowls_two-aloha-agilex_randomized_500
126
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stamp_seal-aloha-agilex_clean_50
127
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/stamp_seal-aloha-agilex_randomized_500
128
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/turn_switch-aloha-agilex_clean_50
129
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/turn_switch-aloha-agilex_randomized_500
130
+ shape_meta:
131
+ images:
132
+ - key: cam_main
133
+ raw_shape:
134
+ - 3
135
+ - 240
136
+ - 320
137
+ shape:
138
+ - 3
139
+ - 240
140
+ - 320
141
+ - key: cam_left_wrist
142
+ raw_shape:
143
+ - 3
144
+ - 240
145
+ - 320
146
+ shape:
147
+ - 3
148
+ - 240
149
+ - 320
150
+ - key: cam_right_wrist
151
+ raw_shape:
152
+ - 3
153
+ - 240
154
+ - 320
155
+ shape:
156
+ - 3
157
+ - 240
158
+ - 320
159
+ action:
160
+ - key: default
161
+ raw_shape: 16
162
+ shape: 16
163
+ state:
164
+ - key: default
165
+ raw_shape: 16
166
+ shape: 16
167
+ num_frames: 33
168
+ global_sample_stride: 1
169
+ action_video_freq_ratio: 4
170
+ video_size:
171
+ - 384
172
+ - 320
173
+ camera_key: null
174
+ val_set_proportion: 0.01
175
+ is_training_set: true
176
+ pretrained_norm_stats: /media/damoxing/datasets/pku-data/dataset_stats.json
177
+ skip_padding_as_possible: false
178
+ concat_multi_camera: robotwin
179
+ enable_vae_latent_cache: true
180
+ vae_latent_cache_require_hit: false
181
+ vae_latent_cache_freq_ratio: 1
182
+ processor:
183
+ _target_: fastwam.datasets.lerobot.processors.fastwam_processor.FastWAMProcessor
184
+ shape_meta:
185
+ images:
186
+ - key: cam_main
187
+ raw_shape:
188
+ - 3
189
+ - 240
190
+ - 320
191
+ shape:
192
+ - 3
193
+ - 240
194
+ - 320
195
+ - key: cam_left_wrist
196
+ raw_shape:
197
+ - 3
198
+ - 240
199
+ - 320
200
+ shape:
201
+ - 3
202
+ - 240
203
+ - 320
204
+ - key: cam_right_wrist
205
+ raw_shape:
206
+ - 3
207
+ - 240
208
+ - 320
209
+ shape:
210
+ - 3
211
+ - 240
212
+ - 320
213
+ action:
214
+ - key: default
215
+ raw_shape: 16
216
+ shape: 16
217
+ state:
218
+ - key: default
219
+ raw_shape: 16
220
+ shape: 16
221
+ num_obs_steps: 33
222
+ num_output_cameras: 3
223
+ action_output_dim: 16
224
+ proprio_output_dim: 16
225
+ action_state_transforms: null
226
+ use_stepwise_action_norm: false
227
+ norm_default_mode: z-score
228
+ norm_exception_mode: null
229
+ action_state_merger:
230
+ _target_: fastwam.datasets.lerobot.transforms.action_state_merger.ConcatLeftAlign
231
+ train_transforms:
232
+ - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
233
+ - _target_: torchvision.transforms.Resize
234
+ size:
235
+ - 240
236
+ - 320
237
+ val_transforms:
238
+ - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
239
+ - _target_: torchvision.transforms.Resize
240
+ size:
241
+ - 240
242
+ - 320
243
+ text_embedding_cache_dir: /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/t5_embed_global_subtask_semantic_noaug_v2
244
+ context_len: 128
245
+ use_subtask_anno: true
246
+ subtask_anno_dir: anno_semantic
247
+ wan_memory_enabled: true
248
+ wan_memory_token_dirname: wan_memory_token
249
+ wan_memory_current_subtask_stride: 4
250
+ wan_memory_completed_subtask_stride: 16
251
+ wan_memory_short_term_offset: 4
252
+ wan_memory_require_complete: true
253
+ subtask_prompt_jitter:
254
+ enabled: true
255
+ start_step: 10000
256
+ ramp_steps: 5000
257
+ early_switch_prob: 0.2
258
+ late_switch_prob: 0.1
259
+ early_switch_window_fraction: 0.1
260
+ late_switch_window_fraction: 0.2
261
+ val:
262
+ _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset
263
+ dataset_dirs:
264
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/adjust_bottle-aloha-agilex_clean_50
265
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/adjust_bottle-aloha-agilex_randomized_500
266
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/beat_block_hammer-aloha-agilex_clean_50
267
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/beat_block_hammer-aloha-agilex_randomized_500
268
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/blocks_ranking_rgb-aloha-agilex_clean_50
269
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/blocks_ranking_rgb-aloha-agilex_randomized_500
270
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/blocks_ranking_size-aloha-agilex_clean_50
271
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/blocks_ranking_size-aloha-agilex_randomized_500
272
+ - /media/damoxing/datasets/pku-data/robotwin_gt_depth_ee/click_alarmclock-aloha-agilex_clean_50
273
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