| { |
| "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" |
| } |
|
|
