| # Model config matching the ORIGINAL FastWAM LIBERO release checkpoint | |
| # checkpoints/fastwam_release/libero_uncond_2cam224.pt: non-decoupled MoT, | |
| # video expert 30 layers (hidden 3072) + action expert 30 layers (hidden 1024), | |
| # no KV fusion. Architecture fields copied verbatim from the resolved model | |
| # block of runs/libero/Baseline_Frozen/2026-06-29_19-46-04/config.yaml (whose | |
| # checkpoint is key/shape-identical to the release .pt) with two recipe fields | |
| # set to the RELEASE provenance, not the frozen ablation's: | |
| # freeze_video_backbone: false (release video weights deviate from the | |
| # Wan2.2 base by ~0.05-0.065 -> the video expert WAS trained) | |
| # loss.lambda_video: 1.0 (video loss on, as in the paper / M1 run) | |
| # mot_checkpoint_mixed_attn is only a gradient-checkpointing toggle (no effect | |
| # on weights) — set true if the run OOMs. | |
| _target_: fastwam.runtime.create_fastwam | |
| model_id: Wan-AI/Wan2.2-TI2V-5B | |
| tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B | |
| tokenizer_max_len: 128 | |
| load_text_encoder: false | |
| proprio_dim: ${data.train.processor.proprio_output_dim} | |
| redirect_common_files: true | |
| mot_checkpoint_mixed_attn: false | |
| # harmless init: every mot key is overwritten by resume=<release .pt> | |
| action_dit_pretrained_path: checkpoints/ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt | |
| skip_dit_load_from_pretrain: false | |
| freeze_video_backbone: false | |
| video_dit_config: | |
| 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: false | |
| video_attention_mask_mode: first_frame_causal | |
| action_conditioned: false | |
| action_dim: 7 | |
| action_group_causal_mask_mode: group_diagonal | |
| action_dit_config: | |
| action_dim: 7 | |
| 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 | |
| use_gradient_checkpointing: false | |
| action_text_cross_attn: 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_video: 1.0 | |