File size: 9,615 Bytes
c9caeff
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
{
    "dataset": {
        "repo_id": "lerobot-data-collection/level2_final_quality3_t_0_hil_data_c",
        "root": "/fsx/martino/.cache/huggingface/hub/datasets--lerobot-data-collection--level2_final_quality3_t_0_hil_data_c/snapshots/2496db53d330c360f910d095e13698d968c56fc6/",
        "episodes": null,
        "image_transforms": {
            "enable": false,
            "max_num_transforms": 3,
            "random_order": false,
            "tfs": {
                "brightness": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "brightness": [
                            0.8,
                            1.2
                        ]
                    }
                },
                "contrast": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "contrast": [
                            0.8,
                            1.2
                        ]
                    }
                },
                "saturation": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "saturation": [
                            0.5,
                            1.5
                        ]
                    }
                },
                "hue": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "hue": [
                            -0.05,
                            0.05
                        ]
                    }
                },
                "sharpness": {
                    "weight": 1.0,
                    "type": "SharpnessJitter",
                    "kwargs": {
                        "sharpness": [
                            0.5,
                            1.5
                        ]
                    }
                },
                "affine": {
                    "weight": 1.0,
                    "type": "RandomAffine",
                    "kwargs": {
                        "degrees": [
                            -5.0,
                            5.0
                        ],
                        "translate": [
                            0.05,
                            0.05
                        ]
                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": false,
        "video_backend": "pyav",
        "return_uint8": false,
        "depth_output_unit": "mm",
        "streaming": false,
        "eval_split": 0.0
    },
    "env": null,
    "policy": {
        "type": "fastwam",
        "n_obs_steps": 1,
        "input_features": {
            "observation.images.base": {
                "type": "VISUAL",
                "shape": [
                    3,
                    224,
                    224
                ]
            },
            "observation.images.left_wrist": {
                "type": "VISUAL",
                "shape": [
                    3,
                    224,
                    224
                ]
            },
            "observation.images.right_wrist": {
                "type": "VISUAL",
                "shape": [
                    3,
                    224,
                    224
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    16
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    16
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "use_peft": false,
        "push_to_hub": true,
        "repo_id": "nepyope/folding_fastwam",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": "lerobot/fastwam_base",
        "pretrained_revision": null,
        "action_dim": 16,
        "proprio_dim": 16,
        "action_horizon": 32,
        "n_action_steps": 32,
        "num_video_frames": 33,
        "action_video_freq_ratio": 4,
        "image_size": [
            224,
            672
        ],
        "context_len": 128,
        "use_relative_actions": true,
        "relative_exclude_joints": [
            "gripper"
        ],
        "action_feature_names": [
            "right_joint_1.pos",
            "right_joint_2.pos",
            "right_joint_3.pos",
            "right_joint_4.pos",
            "right_joint_5.pos",
            "right_joint_6.pos",
            "right_joint_7.pos",
            "right_gripper.pos",
            "left_joint_1.pos",
            "left_joint_2.pos",
            "left_joint_3.pos",
            "left_joint_4.pos",
            "left_joint_5.pos",
            "left_joint_6.pos",
            "left_joint_7.pos",
            "left_gripper.pos"
        ],
        "model_id": "Wan-AI/Wan2.2-TI2V-5B",
        "tokenizer_model_id": "google/umt5-xxl",
        "text_encoder_model_id": "Wan-AI/Wan2.2-TI2V-5B-Diffusers",
        "base_model_id": "lerobot/fastwam_base",
        "tokenizer_max_len": 128,
        "load_text_encoder": true,
        "mot_checkpoint_mixed_attn": false,
        "torch_dtype": "bfloat16",
        "prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}",
        "num_inference_steps": 10,
        "inference_seed": 42,
        "rand_device": "cpu",
        "text_cfg_scale": 1.0,
        "negative_prompt": "",
        "sigma_shift": null,
        "tiled": false,
        "fp32_attention": false,
        "use_gradient_checkpointing": true,
        "freeze_video_expert": false,
        "toggle_action_dimensions": [],
        "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_video": 1.0,
            "lambda_action": 1.0
        },
        "video_dit_config": {
            "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": 1e-06,
            "seperated_timestep": true,
            "use_gradient_checkpointing": true,
            "video_attention_mask_mode": "first_frame_causal",
            "action_conditioned": false,
            "action_dim": 16,
            "action_group_causal_mask_mode": "group_diagonal",
            "fp32_attention": false
        },
        "action_dit_config": {
            "action_dim": 16,
            "hidden_dim": 1024,
            "ffn_dim": 4096,
            "num_heads": 24,
            "attn_head_dim": 128,
            "num_layers": 30,
            "text_dim": 4096,
            "freq_dim": 256,
            "eps": 1e-06,
            "use_gradient_checkpointing": true,
            "fp32_attention": false
        },
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
        },
        "optimizer_lr": 0.0001,
        "optimizer_weight_decay": 0.01
    },
    "reward_model": null,
    "output_dir": "/fsx/martino/runs/folding-tshirt/outputs/train/folding_fastwam_multinode_22372363",
    "job_name": "folding_fastwam_multinode",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 4,
    "batch_size": 16,
    "prefetch_factor": 4,
    "persistent_workers": true,
    "steps": 66686,
    "env_eval_freq": 20000,
    "log_freq": 50,
    "eval_steps": 0,
    "max_eval_samples": 0,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 10000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 0.0001,
        "weight_decay": 0.01,
        "grad_clip_norm": 10.0,
        "betas": [
            0.9,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": null,
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": true,
        "recording": false,
        "recording_repo_id": null,
        "recording_private": false,
        "save_predicted_video": false
    },
    "wandb": {
        "enable": true,
        "disable_artifact": true,
        "project": "folding-tshirt",
        "entity": null,
        "notes": null,
        "run_id": "1l3pzcio",
        "mode": null,
        "add_tags": true
    },
    "peft": null,
    "job": {
        "target": null,
        "image": "huggingface/lerobot-gpu:latest",
        "timeout": "2d",
        "detach": false,
        "tags": []
    },
    "save_checkpoint_to_hub": false,
    "sample_weighting": {
        "type": "rabc",
        "progress_path": "/fsx/martino/.cache/huggingface/hub/datasets--lerobot-data-collection--level2_final_quality3_t_0_hil_data_c/snapshots/2496db53d330c360f910d095e13698d968c56fc6/sarm_progress.parquet",
        "head_mode": "sparse",
        "kappa": 0.05,
        "epsilon": 1e-06,
        "extra_params": {}
    },
    "rename_map": {},
    "checkpoint_path": null
}