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TeleopWM

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TeleopWM
File size: 1,961 Bytes
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{
  "action_dim": 3,
  "aux_dynamics_hidden_dim": null,
  "batch_size": 1,
  "checkpoint": "outputs/simvp_baseline/2026-05-25_08-44-43_full5ep_motionctxV2_grid2x4_fmScale3_dualWM10_delta05_MSE_dLong05_dSteer15_corr01_noDetach_conv1x1_ctrlSteerS030/checkpoints/best.pt",
  "conditioning_dim": 32,
  "conditioning_fusion": null,
  "conditioning_injection": "single",
  "conditioning_representation": "longitudinal_steer_speed",
  "control_steer_input_scale": 0.3,
  "device": "cuda",
  "dual_conv1x1_fusion_stats": {
    "bias_norm": 0.050001209756022555,
    "enabled": true,
    "param_count": 2080,
    "simvp_half_weight_norm": 34.854761816360536,
    "weight_norm": 35.060819933559266,
    "wm_half_weight_norm": 3.7956123535264505,
    "wm_to_simvp_weight_norm_ratio": 0.10889795700009121
  },
  "dual_fusion": "conv1x1",
  "dual_wm_conditioning": "film",
  "dual_wm_gated": true,
  "dual_wm_hidden_dim": 512,
  "dual_wm_num_layers": 3,
  "dual_wm_scale": 1.0,
  "future_action_detach_latents": false,
  "future_action_future_motion_scale": 3.0,
  "future_action_head_variant": "motion_context_v2",
  "future_action_source": "wm",
  "future_action_spatial_grid": [
    2,
    4
  ],
  "future_action_spatial_pooling": "grid",
  "future_action_token_dim": 256,
  "future_frames_per_second": 205.4795994525576,
  "has_future_action_cls_heads": true,
  "has_future_action_head": true,
  "height": 320,
  "iters": 200,
  "latency_ms_per_batch": 38.93330540508032,
  "model_variant": "av_wm_dual_bigwm",
  "normalize_controls": true,
  "parameters": 11452811,
  "peak_vram_mb": 1243.41455078125,
  "pred_future_actions_shape": [
    1,
    8,
    2
  ],
  "samples_per_second": 25.6849499315697,
  "simvp_conditioning": "none",
  "simvp_conditioning_stage": "input",
  "speed_dim": 1,
  "speed_scale": 20.0,
  "warmup": 20,
  "width": 512,
  "wm_latent_residual": false,
  "wm_residual_gated": true,
  "wm_residual_hidden_dim": 128,
  "wm_residual_scale": 0.1
}