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@@ -58,3 +58,14 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_OpenSingleDoor_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_PnPSinkToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_TurnOffStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_TurnOnStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text
+datasets/robocasa_cosmos_kitchen/robocasa_TurnOnSinkFaucet_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/c/0/0/0 filter=lfs diff=lfs merge=lfs -text

checkpoints/glancewam_libero/config.full.yaml

@@ -0,0 +1,170 @@
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    lerobot_version: v3.0
+    data_root_dir: results/Datasets
+    data_mix: libero_all
+    image_size:
+    - 224
+    - 224
+    per_device_batch_size: 16
+    num_workers: 16
+    video_backend: torchcodec
+    action_horizon: 8
+    num_history_frames: 1
+    future_frame_idx: 48
+    goal_frame_range:
+    - 1
+    - 48
+    action_conditioning: false
+    camera_concat: side_by_side
+    t5_cache:
+      enabled: true
+      model_id: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+      attach_embeds: false
+    vae_cache:
+      enabled: false
+    image_aug: false
+    eval_holdout_episodes: 0
+    eval_vae_cache:
+      enabled: false
+framework:
+  name: GlanceWAM
+  world_model:
+    base_wm: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+    extract_layers:
+    - 5
+    - 12
+    - 19
+    - 26
+    combine_layers: concat_tokens
+    vae_input_size:
+    - 224
+    - 448
+    camera_concat: side_by_side
+    compile_dit: true
+    compile_dit_mode: null
+    compile_dit_dynamic: true
+    compile_vae: true
+    compile_vae_mode: null
+    skip_vae: false
+    skip_text_encoder: true
+    num_history_frames: 1
+    fps: 24
+    text_max_length: 512
+    dit_lora: false
+    dit_lora_rank: 256
+    dit_lora_alpha: 32
+    dit_lora_target_modules:
+    - to_q
+    - to_k
+    - to_v
+    - to_out.0
+    - ffn.net.0.proj
+    - ffn.net.2
+    resident_text_table: true
+    resident_text_table_max_rows: 1024
+    truncate_at_extract: false
+  video_cotrain:
+    enabled: true
+    lambda: 1.0
+    sigma_sampling: logitnormal
+    clean_prefix_isolation: true
+  goal_conditioning:
+    enabled: true
+    dropout_p: 0.1
+    goal_gen_steps: 10
+    h_embed_dim: 16
+  depth_supervision:
+    enabled: false
+    extract_blocks:
+    - 5
+    - 12
+    - 19
+    - 26
+    channels: 256
+    loss_weight: 1.0
+    grad_weight: 0.5
+    prior_value: 0.26
+    depth_frames: obs_goal
+    fusion: true
+    per_frame_renorm: true
+    head_only: false
+  qwenvl:
+    base_vlm: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+    vl_hidden_dim: 1536
+    num_vl_layers: 30
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 7
+    state_dim: 7
+    future_action_window_size: 7
+    action_horizon: 8
+    past_action_window_size: 0
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    t_loss_weighting: false
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 1536
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+  obs_image_size: null
+run_id: glancewam_libero
+run_root_dir: ./results/Checkpoints
+wandb_dir: ./results/wandb_local
+seed: 42
+trainer:
+  ema:
+    enabled: true
+    decay: 0.999
+    warmup: true
+    start_step: 0
+    device: cuda
+  eval_interval: 500
+  freeze_modules: ''
+  gradient_clipping: 1.0
+  is_resume: false
+  learning_rate:
+    action_model: 0.0001
+    base: 0.0001
+  logging_frequency: 100
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 20000
+  scheduler_total_steps: 20000
+  num_warmup_steps: 1000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 5000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+  eval_batch_size: 32
+  sdpa_backend: cudnn
+  step_timing: false
+  gc_interval: 500
+wandb_entity: linhan2-virginia-tech
+wandb_project: starVLA_Libero
+hf_upload:
+  enabled: true
+  repo_id: LinhanWang/starVLA_ckpts
+is_debug: false
+version_id: '0.21'
+config_yaml: ./examples/LIBERO/train_files/config_skyreelsv2gr00tgoalcotrain_libero.yaml
+output_dir: ./results/Checkpoints/glancewam_libero

checkpoints/glancewam_libero/config.yaml

@@ -0,0 +1,132 @@
+datasets:
+  vla_data:
+    action_conditioning: false
+    action_horizon: 8
+    data_mix: libero_all
+    data_root_dir: results/Datasets
+    dataset_py: lerobot_datasets
+    eval_holdout_episodes: 0
+    future_frame_idx: 48
+    goal_frame_range:
+    - 1
+    - 48
+    image_aug: false
+    image_size:
+    - 224
+    - 224
+    lerobot_version: v3.0
+    num_history_frames: 1
+    num_workers: 16
+    per_device_batch_size: 16
+    t5_cache:
+      attach_embeds: false
+      enabled: true
+      model_id: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+    vae_cache:
+      enabled: false
+    video_backend: torchcodec
+framework:
+  action_model:
+    action_dim: 7
+    action_horizon: 8
+    action_model_type: DiT-B
+    add_pos_embed: true
+    diffusion_model_cfg:
+      cross_attention_dim: 1536
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    hidden_size: 1024
+    max_seq_len: 1024
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    num_timestep_buckets: 1000
+    repeated_diffusion_steps: 8
+    state_dim: 7
+    t_loss_weighting: false
+  depth_supervision:
+    enabled: false
+  goal_conditioning:
+    dropout_p: 0.1
+    enabled: true
+    goal_gen_steps: 10
+    h_embed_dim: 16
+  name: GlanceWAM
+  obs_image_size: null
+  qwenvl:
+    base_vlm: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+  video_cotrain:
+    clean_prefix_isolation: true
+    enabled: true
+    lambda: 1.0
+    sigma_sampling: logitnormal
+  world_model:
+    base_wm: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+    camera_concat: side_by_side
+    combine_layers: concat_tokens
+    compile_dit: true
+    compile_dit_dynamic: true
+    compile_dit_mode: null
+    compile_vae: true
+    compile_vae_mode: null
+    dit_lora: false
+    extract_layers:
+    - 5
+    - 12
+    - 19
+    - 26
+    fps: 24
+    num_history_frames: 1
+    resident_text_table: true
+    resident_text_table_max_rows: 1024
+    skip_text_encoder: true
+    skip_vae: false
+    text_max_length: 512
+    truncate_at_extract: false
+    vae_input_size:
+    - 224
+    - 448
+output_dir: ./results/Checkpoints/glancewam_libero
+run_id: glancewam_libero
+run_root_dir: ./results/Checkpoints
+seed: 42
+trainer:
+  ema:
+    decay: 0.999
+    device: cuda
+    enabled: true
+    start_step: 0
+    warmup: true
+  eval_interval: 500
+  freeze_modules: ''
+  gc_interval: 500
+  is_resume: false
+  learning_rate:
+    action_model: 0.0001
+    base: 0.0001
+  logging_frequency: 100
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 20000
+  num_warmup_steps: 1000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 5000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+  scheduler_total_steps: 20000
+  sdpa_backend: cudnn
+  step_timing: false
+wandb_dir: ./results/wandb_local
+wandb_entity: linhan2-virginia-tech
+wandb_project: starVLA_Libero

checkpoints/glancewam_libero/dataset_statistics.json

@@ -0,0 +1,133 @@
+{
+  "franka": {
+    "action": {
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+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.04889854742214084,
+        0.03689368185587227,
+        0.7890402488410473,
+        2.9771945476531982,
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+        0.026436020154505968,
+        -0.02665513101965189
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+      "std": [
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+        0.15115733130675715,
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+    "num_transitions": 273465,
+    "num_trajectories": 1693
+  }
+}

checkpoints/glancewam_robocasa_kitchen/config.full.yaml

@@ -0,0 +1,180 @@
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    lerobot_version: v3.0
+    data_root_dir: results/Datasets/robocasa_cosmos_kitchen
+    data_mix: robocasa_kitchen_all
+    image_size:
+    - 224
+    - 224
+    per_device_batch_size: 8
+    num_workers: 16
+    video_backend: torchcodec
+    action_horizon: 16
+    num_history_frames: 1
+    future_frame_idx: 60
+    goal_frame_range:
+    - 1
+    - 60
+    action_conditioning: false
+    camera_concat: side_by_side
+    t5_cache:
+      enabled: true
+      model_id: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+      attach_embeds: false
+    vae_cache:
+      enabled: false
+    goal_depth:
+      enabled: false
+      depth_source: both
+      encoder: vitl
+      depth_res: 112
+      input_size: 518
+      infer_mode: temporal
+    image_aug: true
+    include_state: true
+    eval_holdout_episodes: 0
+    eval_vae_cache:
+      enabled: false
+framework:
+  name: GlanceWAM
+  world_model:
+    base_wm: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+    extract_layers:
+    - 5
+    - 12
+    - 19
+    - 26
+    combine_layers: concat_tokens
+    vae_input_size:
+    - 224
+    - 672
+    camera_concat: side_by_side
+    compile_dit: true
+    compile_dit_mode: null
+    compile_dit_dynamic: true
+    compile_vae: true
+    compile_vae_mode: null
+    skip_vae: false
+    skip_text_encoder: true
+    num_history_frames: 1
+    fps: 24
+    text_max_length: 512
+    dit_lora: false
+    dit_lora_rank: 256
+    dit_lora_alpha: 32
+    dit_lora_target_modules:
+    - to_q
+    - to_k
+    - to_v
+    - to_out.0
+    - ffn.net.0.proj
+    - ffn.net.2
+    resident_text_table: true
+    resident_text_table_max_rows: 1024
+    truncate_at_extract: false
+    transformer_from: null
+    enable_gradient_checkpointing: true
+  video_cotrain:
+    enabled: true
+    lambda: 1.0
+    sigma_sampling: logitnormal
+    clean_prefix_isolation: true
+  goal_conditioning:
+    enabled: true
+    dropout_p: 0.1
+    goal_gen_steps: 10
+    h_embed_dim: 16
+  depth_supervision:
+    enabled: false
+    extract_blocks:
+    - 5
+    - 12
+    - 19
+    - 26
+    channels: 256
+    loss_weight: 1.0
+    grad_weight: 0.5
+    prior_value: 0.26
+    depth_frames: obs_goal
+    fusion: true
+    per_frame_renorm: true
+    head_only: false
+  qwenvl:
+    base_vlm: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+    vl_hidden_dim: 1536
+    num_vl_layers: 30
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 7
+    state_dim: 9
+    future_action_window_size: 15
+    action_horizon: 16
+    past_action_window_size: 0
+    repeated_diffusion_steps: 12
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    t_loss_weighting: true
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 1536
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+  obs_image_size: null
+run_id: glancewam_robocasa_kitchen
+run_root_dir: ./results/Checkpoints
+wandb_dir: ./results/wandb_local
+seed: 42
+trainer:
+  ema:
+    enabled: true
+    decay: 0.999
+    warmup: true
+    start_step: 0
+    device: cuda
+  eval_interval: 500
+  freeze_modules: ''
+  gradient_clipping: 1.0
+  is_resume: false
+  learning_rate:
+    action_model: 0.0001
+    base: 0.0001
+  logging_frequency: 100
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 10000
+  scheduler_total_steps: 20000
+  num_warmup_steps: 1000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 5000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+  eval_batch_size: 64
+  sdpa_backend: cudnn
+  step_timing: false
+  gc_interval: 500
+wandb_entity: linhan2-virginia-tech
+wandb_project: starVLA_Robocasa_kitchen
+hf_upload:
+  enabled: true
+  repo_id: LinhanWang/starVLA_ckpts
+is_debug: false
+version_id: '0.21'
+config_yaml: ./examples/Robocasa_kitchen/train_files/config_skyreelsv2gr00tgoalcotrain_robocasa_kitchen.yaml
+output_dir: ./results/Checkpoints/glancewam_robocasa_kitchen

checkpoints/glancewam_robocasa_kitchen/config.yaml

@@ -0,0 +1,136 @@
+datasets:
+  vla_data:
+    action_conditioning: false
+    action_horizon: 16
+    data_mix: robocasa_kitchen_all
+    data_root_dir: results/Datasets/robocasa_cosmos_kitchen
+    dataset_py: lerobot_datasets
+    eval_holdout_episodes: 0
+    future_frame_idx: 60
+    goal_depth:
+      enabled: false
+    goal_frame_range:
+    - 1
+    - 60
+    image_aug: true
+    image_size:
+    - 224
+    - 224
+    lerobot_version: v3.0
+    num_history_frames: 1
+    num_workers: 16
+    per_device_batch_size: 8
+    t5_cache:
+      attach_embeds: false
+      enabled: true
+      model_id: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
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+    max_seq_len: 1024
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
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+    num_timestep_buckets: 1000
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+  goal_conditioning:
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+    enabled: true
+    goal_gen_steps: 10
+    h_embed_dim: 16
+  name: GlanceWAM
+  obs_image_size: null
+  qwenvl:
+    base_vlm: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+  video_cotrain:
+    clean_prefix_isolation: true
+    enabled: true
+    lambda: 1.0
+    sigma_sampling: logitnormal
+  world_model:
+    base_wm: Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers
+    camera_concat: side_by_side
+    combine_layers: concat_tokens
+    compile_dit: true
+    compile_dit_dynamic: true
+    compile_dit_mode: null
+    compile_vae: true
+    compile_vae_mode: null
+    dit_lora: false
+    enable_gradient_checkpointing: true
+    extract_layers:
+    - 5
+    - 12
+    - 19
+    - 26
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+    num_history_frames: 1
+    resident_text_table: true
+    resident_text_table_max_rows: 1024
+    skip_text_encoder: true
+    skip_vae: false
+    text_max_length: 512
+    transformer_from: null
+    truncate_at_extract: false
+    vae_input_size:
+    - 224
+    - 672
+output_dir: ./results/Checkpoints/glancewam_robocasa_kitchen
+run_id: glancewam_robocasa_kitchen
+run_root_dir: ./results/Checkpoints
+seed: 42
+trainer:
+  ema:
+    decay: 0.999
+    device: cuda
+    enabled: true
+    start_step: 0
+    warmup: true
+  eval_interval: 500
+  freeze_modules: ''
+  gc_interval: 500
+  is_resume: false
+  learning_rate:
+    action_model: 0.0001
+    base: 0.0001
+  logging_frequency: 100
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 10000
+  num_warmup_steps: 1000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 5000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+  scheduler_total_steps: 20000
+  sdpa_backend: cudnn
+  step_timing: false
+wandb_dir: ./results/wandb_local
+wandb_entity: linhan2-virginia-tech
+wandb_project: starVLA_Robocasa_kitchen

checkpoints/glancewam_robocasa_kitchen/dataset_statistics.json

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datasets/libero_10_no_noops_1.0.0_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json

@@ -0,0 +1,71 @@
+{
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datasets/libero_10_no_noops_1.0.0_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json

@@ -0,0 +1,33 @@
+{
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datasets/libero_10_no_noops_1.0.0_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json

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+}

datasets/libero_10_no_noops_1.0.0_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json

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datasets/libero_10_no_noops_1.0.0_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json

@@ -0,0 +1,5 @@
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datasets/libero_10_no_noops_1.0.0_lerobot/meta/info.json

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datasets/libero_10_no_noops_1.0.0_lerobot/meta/modality.json

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datasets/libero_10_no_noops_1.0.0_lerobot/meta/stats.json

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