fastwam/initialization_report.json

{
  "schema_version": "fastwam-transfer-initialization-v1",
  "mode": "full_mot_with_action_proprio_slot_remap",
  "fastwam_checkpoint": "official RoboTwin FastWAM checkpoint, source step 29355",
  "memory_checkpoint": "Helios memory checkpoint step 35000",
  "memory_checkpoint_history_sizes": {"long": 8, "mid": 2, "short": 1},
  "memory_initialization": "memory_patchers_only",
  "source_action_dim": 14,
  "source_proprio_dim": 14,
  "target_action_dim": 80,
  "target_proprio_dim": 80,
  "proprio_remapped": true,
  "action_target_indices": [14, 15, 16, 17, 18, 19, 6, 21, 22, 23, 24, 25, 26, 13],
  "source_mot_keys": 1649,
  "target_mot_keys": 1649,
  "target_mot_fraction_from_checkpoint": 0.9999775389522343,
  "source_torch_dtype": "torch.bfloat16"
}