| --- |
| pretty_name: DynamicWAM Training Data |
| license: apache-2.0 |
| language: |
| - en |
| task_categories: |
| - robotics |
| size_categories: |
| - 1M<n<10M |
| tags: |
| - robot-manipulation |
| - imitation-learning |
| - video-latents |
| - optical-flow |
| - safetensors |
| - domino |
| - dynamicwam |
| --- |
| |
| # DynamicWAM training data |
|
|
| This repository contains the packed training corpus for **DynamicWAM (w/o |
| motion)**, the paper variant previously tracked internally as B0. The public |
| name is now consistently **DynamicWAM (w/o motion)**. |
|
|
| The corpus is a lossless packed derivative of |
| [`H-EmbodVis/DOMINO`](https://github.com/H-EmbodVis/DOMINO), not a copy of the |
| raw RGB dataset. It stores aligned video latents, action/state targets, history |
| Flow RGB, language embeddings, frame indices, and metadata. The Hub layout |
| buckets the language shards to satisfy Hugging Face's per-directory file |
| limit; a supplied materialization tool creates the flat compatibility view |
| expected by the released training loader without duplicating payload bytes. |
|
|
| ## Important naming distinction |
|
|
| “w/o motion” means **without the explicit numeric absolute-motion descriptor |
| tokens** introduced by the full DynamicWAM model. This dataset still contains |
| four history optical-flow intervals represented as Flow RGB. Its temporal |
| contract is `model_policy_index_aligned_v1`; physical simulator timestamps are |
| not available in this earlier corpus. |
|
|
| For the later exact-simulator-time corpus used by full DynamicWAM, use |
| [`KhalilGao/DOMINO_absolute_motion_v2`](https://huggingface.co/datasets/KhalilGao/DOMINO_absolute_motion_v2). |
|
|
| ## Dataset summary |
|
|
| | Field | Value | |
| |---|---:| |
| | Tasks | 35 | |
| | Episodes | 26,019 | |
| | Clean episodes | 5,207 | |
| | Randomized episodes | 20,812 | |
| | Packed samples | 3,455,662 | |
| | Main data shards | 346 | |
| | Payload files | 82,008 | |
| | Logical payload size | 2,199,796,269,773 bytes (2.00 TiB) | |
| | Zero-byte files | 0 | |
| | Dataset fingerprint | `bc20355aa094585499c2ade05d8bcfdb1f082aabc73259ebcded694e3301c425` | |
|
|
| ## Repository layout |
|
|
| ```text |
| dynamicwam_wo_motion/ |
| ├── dataset.json |
| ├── stats.json |
| ├── action_stats.json |
| ├── episodes.jsonl |
| ├── samples.jsonl |
| ├── shards/ |
| │ ├── shard_*.safetensors |
| │ └── shard_*.json |
| └── lang/ |
| ├── lang.json |
| └── shards/ |
| ├── bucket_000/ |
| │ ├── shard_000000.safetensors |
| │ └── ... |
| └── bucket_040/ |
| └── shard_040654.json |
| DATASET_RELEASE.json |
| FILE_LAYOUT.json |
| PAYLOAD_MANIFEST.jsonl |
| SHA256SUMS |
| tools/materialize_training_layout.py |
| ``` |
|
|
| This is a custom Safetensors-backed training format, so the Hugging Face |
| Dataset Viewer is not the authoritative loader. Use the DynamicWAM dataset |
| loader from the source repository. |
|
|
| ## Download |
|
|
| ```bash |
| hf download KhalilGao/DynamicWAM-data \ |
| --repo-type dataset \ |
| --local-dir data/DynamicWAM-data |
| |
| python data/DynamicWAM-data/tools/materialize_training_layout.py \ |
| data/DynamicWAM-data/dynamicwam_wo_motion |
| ``` |
|
|
| The second command creates relative symlinks such as |
| `lang/shards/shard_000000.safetensors -> |
| bucket_000/shard_000000.safetensors`. It is idempotent. Use `--mode hardlink` |
| when symlinks are unsuitable; neither mode duplicates the underlying payload. |
| |
| The matching checkpoint is |
| [`KhalilGao/DynamicWAM/checkpoints/dynamicwam_wo_motion/model.pt`](https://huggingface.co/KhalilGao/DynamicWAM/blob/main/checkpoints/dynamicwam_wo_motion/model.pt). |
| |
| ## Integrity and provenance |
| |
| - Format: `efficient_wam_train_dataset`, version 2. |
| - Action/state dimension: 14; action chunk size: 16. |
| - Future latent sequence: 8 frames; composite video size: 384×320. |
| - History flow: head view, four intervals, 64×64 Farneback flow, P99 |
| normalization, fixed raw stride. |
| - The packaged action statistics have SHA-256 |
| `730a91e41b6a23c70cec49cd222835373ba9364680da5753f4408c5534319b04`, |
| exactly matching the released DynamicWAM (w/o motion) checkpoint. |
| - `PAYLOAD_MANIFEST.jsonl` maps every native logical path to its bucketed Hub |
| path and records byte size and source modification time. |
| - `SHA256SUMS` is generated from the upload-time content hashes and covers the |
| complete bucketed payload under `dynamicwam_wo_motion/`. |
|
|
| ## License |
|
|
| The packaged derivative is released under Apache-2.0, consistent with the |
| upstream DOMINO data/code release. Language and video-model-derived features |
| remain subject to the applicable upstream model terms; no external model |
| weights are included here. |
|
|
