Instructions to use maximellerbach/omx_multicubes_fastwam with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use maximellerbach/omx_multicubes_fastwam with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "repo_id": "maximellerbach/omx_multicubes", | |
| "root": null, | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "max_num_transforms": 3, | |
| "random_order": false, | |
| "tfs": { | |
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| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
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| 0.8, | |
| 1.2 | |
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| "kwargs": { | |
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| "hue": { | |
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| "affine": { | |
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| "type": "RandomAffine", | |
| "kwargs": { | |
| "degrees": [ | |
| -5.0, | |
| 5.0 | |
| ], | |
| "translate": [ | |
| 0.05, | |
| 0.05 | |
| ] | |
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| }, | |
| "revision": null, | |
| "use_imagenet_stats": false, | |
| "video_backend": "torchcodec", | |
| "return_uint8": false, | |
| "streaming": false | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "fastwam", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
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| 224 | |
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| }, | |
| "observation.state": { | |
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| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "maximellerbach/omx_multicubes_fastwam", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "lerobot/fastwam_base", | |
| "pretrained_revision": null, | |
| "action_dim": 6, | |
| "proprio_dim": 6, | |
| "action_horizon": 32, | |
| "n_action_steps": 32, | |
| "num_video_frames": 33, | |
| "action_video_freq_ratio": 4, | |
| "image_size": [ | |
| 224, | |
| 448 | |
| ], | |
| "context_len": 128, | |
| "model_id": "Wan-AI/Wan2.2-TI2V-5B", | |
| "tokenizer_model_id": "Wan-AI/Wan2.2-TI2V-5B", | |
| "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": true, | |
| "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 | |
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| "video_dit_config": { | |
| "patch_size": [ | |
| 1, | |
| 2, | |
| 2 | |
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| "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": 6, | |
| "action_group_causal_mask_mode": "group_diagonal", | |
| "fp32_attention": true | |
| }, | |
| "action_dit_config": { | |
| "action_dim": 6, | |
| "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": true | |
| }, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_weight_decay": 0.01 | |
| }, | |
| "reward_model": null, | |
| "output_dir": "outputs/train/omx_multicubes_fastwam_full", | |
| "job_name": "fastwam", | |
| "resume": false, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 4, | |
| "batch_size": 8, | |
| "prefetch_factor": 4, | |
| "persistent_workers": true, | |
| "steps": 6000, | |
| "eval_freq": 20000, | |
| "log_freq": 50, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_freq": 6000, | |
| "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 | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": true, | |
| "project": "lerobot", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "9567pvf6", | |
| "mode": null, | |
| "add_tags": true | |
| }, | |
| "peft": null, | |
| "sample_weighting": null, | |
| "rename_map": {}, | |
| "checkpoint_path": null | |
| } |