checkpoint:
  broadcast_via_filesystem: 'False'
  dcp_allow_mismatched_size: 'False'
  dcp_async_mode_enabled: 'False'
  jit:
    device: cuda
    dtype: bfloat16
    enabled: 'False'
    input_shape: null
    strict: 'True'
  keys_not_to_resume: []
  load_ema_to_reg: 'False'
  load_path: ''
  load_training_state: 'False'
  only_load_scheduler_state: 'False'
  save_iter: '100'
  strict_resume: 'True'
  type:
    _target_: <class 'cosmos_predict2.checkpointer.Checkpointer'>
    callbacks: null
  verbose: 'True'
data_config: null
dataloader_train:
  _target_: <class 'torch.utils.data.dataloader.DataLoader'>
  batch_sampler: null
  batch_size: '2'
  collate_fn: null
  dataset:
    _target_: <class 'cosmos_predict2.data.dataset_video.Dataset'>
    data_fps: '30.0'
    dataset_dir: /home/ubuntu/pdt-mimic/data/push-mimic
    exclude_with_substring: null
    include_only_with_substrings: null
    is_multi_img: 'False'
    is_val: 'False'
    num_frames: '61'
    obs_history: '5'
    val_ratio: '0.0'
    video_size:
    - '480'
    - '640'
  drop_last: 'True'
  generator: null
  in_order: 'False'
  multiprocessing_context: null
  num_workers: '12'
  persistent_workers: 'True'
  pin_memory: 'True'
  pin_memory_device: ''
  prefetch_factor: '8'
  sampler:
    _target_: <function get_sampler at 0x79dcbfd48310>
    dataset:
      _target_: <class 'cosmos_predict2.data.dataset_video.Dataset'>
      data_fps: '30.0'
      dataset_dir: /home/ubuntu/pdt-mimic/data/push-mimic
      exclude_with_substring: null
      include_only_with_substrings: null
      is_multi_img: 'False'
      is_val: 'False'
      num_frames: '61'
      obs_history: '5'
      val_ratio: '0.0'
      video_size:
      - '480'
      - '640'
  shuffle: null
  timeout: '0'
  worker_init_fn: null
dataloader_val:
  _target_: <class 'torch.utils.data.dataloader.DataLoader'>
  batch_sampler: null
  batch_size: '1'
  collate_fn: null
  dataset:
    _target_: <class 'cosmos_predict2.data.dataset_video.Dataset'>
    data_fps: '30.0'
    dataset_dir: /home/ubuntu/pdt-mimic/data/push-mimic
    exclude_with_substring: null
    include_only_with_substrings: null
    is_multi_img: 'False'
    is_val: 'True'
    num_frames: '61'
    obs_history: '5'
    val_ratio: '0.0'
    video_size:
    - '480'
    - '640'
  drop_last: 'False'
  generator: null
  in_order: 'False'
  multiprocessing_context: null
  num_workers: '0'
  persistent_workers: 'False'
  pin_memory: 'False'
  pin_memory_device: ''
  prefetch_factor: null
  sampler:
    _target_: <function get_sampler at 0x79dcbfd48310>
    dataset:
      _target_: <class 'cosmos_predict2.data.dataset_video.Dataset'>
      data_fps: '30.0'
      dataset_dir: /home/ubuntu/pdt-mimic/data/push-mimic
      exclude_with_substring: null
      include_only_with_substrings: null
      is_multi_img: 'False'
      is_val: 'True'
      num_frames: '61'
      obs_history: '5'
      val_ratio: '0.0'
      video_size:
      - '480'
      - '640'
  shuffle: null
  timeout: '0'
  worker_init_fn: null
defaults:
- _self_
- data_config: null
- video_dataset_train: null
- video_dataset_val: null
- dataloader_train: null
- dataloader_val: null
- world2action_pipe: null
- optimizer: fusedadamw
- scheduler: constant
- model: null
- callbacks:
  - basic
- net: null
- ema: null
- checkpoint: null
- ckpt_type: null
- experiment: null
job:
  group: video2world
  name: v2w_push_lora_rank32_lr1.778e-04_bsz32
  project: posttraining
model:
  _recursive_: 'False'
  _target_: <class 'cosmos_predict2.models.video2world_model.Predict2Video2WorldModel'>
  config:
    adjust_video_noise: true
    debug_without_randomness: false
    fsdp_shard_size: 0
    high_sigma_ratio: 0.05
    init_lora_weights: true
    input_image_key: images
    input_video_key: video
    lora_alpha: 32
    lora_rank: 32
    lora_target_modules: q_proj,k_proj,v_proj,output_proj,x_embedder.proj.1,linear_1,linear_2,mlp.layer1,mlp.layer2
    loss_reduce: mean
    loss_scale: 100.0
    model_manager_config:
      _target_: cosmos_predict2.models.video2world_model.Predict2ModelManagerConfig
      dit_path: /home/ubuntu/pdt-mimic/mimic-video/model/checkpoints/video_backbone//v2w_pretrained_cosmos.pt
      text_encoder_path: ''
    pipe_config:
      adjust_video_noise: true
      conditioner:
        _target_: <class 'cosmos_predict2.conditioner.VideoConditioner'>
        fps:
          _target_: <class 'cosmos_predict2.conditioner.ReMapkey'>
          dropout_rate: '0.0'
          dtype: null
          input_key: fps
          output_key: fps
        padding_mask:
          _target_: <class 'cosmos_predict2.conditioner.ReMapkey'>
          dropout_rate: '0.0'
          dtype: null
          input_key: padding_mask
          output_key: padding_mask
        text:
          _target_: <class 'cosmos_predict2.conditioner.TextAttr'>
          dropout_rate: '0.0'
          input_key:
          - obs/language_embedding
        use_video_condition:
          _target_: <class 'cosmos_predict2.conditioner.BooleanFlag'>
          dropout_rate: '0.0'
          input_key: fps
          output_key: use_video_condition
      conditioning_strategy: frame_replace
      ema:
        _target_: cosmos_predict2.configs.defaults.ema.EMAConfig
        enabled: 'False'
        iteration_shift: '0'
        rate: '0.1'
      guardrail_config:
        checkpoint_dir: /home/ubuntu/pdt-mimic/mimic-video/model/checkpoints
        enabled: false
        offload_model_to_cpu: true
      input_image_key: images
      input_video_key: video
      max_num_conditional_frames: 2
      min_num_conditional_frames: 1
      net:
        _target_: <class 'cosmos_predict2.models.video2world_dit.MinimalV1LVGDiT'>
        adaln_lora_dim: '256'
        atten_backend: minimal_a2a
        concat_padding_mask: 'True'
        extra_per_block_abs_pos_emb: 'False'
        in_channels: '16'
        max_frames: '128'
        max_img_h: '240'
        max_img_w: '240'
        model_channels: '2048'
        num_blocks: '28'
        num_heads: '16'
        out_channels: '16'
        patch_spatial: '2'
        patch_temporal: '1'
        pos_emb_cls: rope3d
        pos_emb_interpolation: crop
        pos_emb_learnable: 'True'
        rope_enable_fps_modulation: 'False'
        rope_h_extrapolation_ratio: '3.0'
        rope_t_extrapolation_ratio: '1.0'
        rope_w_extrapolation_ratio: '3.0'
        sac_config:
          _target_: cosmos_predict2.models.text2image_dit.SACConfig
          every_n_blocks: '1'
          mode: predict2_2b_720
        use_adaln_lora: 'True'
      precision: bfloat16
      rectified_flow_loss_weight_uniform: true
      rectified_flow_t_scaling_factor: 1.0
      resize_online: false
      resolution: '480'
      sigma_conditional: 0.0001
      sigma_data: 1.0
      state_ch: 16
      state_t: 16
      text_encoder:
        cls: !!python/object/apply:imaginaire.constants.TextEncoderClass
        - t5
        t5:
          ckpt_path: /home/ubuntu/pdt-mimic/mimic-video/model/checkpoints/text_encoder/t5-11b
          embed_dim: 1024
          num_tokens: 512
      timestamps:
        is_forward: false
        nfe: 35
        order: 7.0
        t_max: 80.0
        t_min: 0.002
      tokenizer:
        _target_: <class 'cosmos_predict2.tokenizers.tokenizer.TokenizerInterface'>
        chunk_duration: '81'
        load_mean_std: 'False'
        name: tokenizer
        temporal_window: '16'
        vae_pth: /home/ubuntu/pdt-mimic/mimic-video/model/checkpoints/video_backbone//tokenizer/tokenizer.pth
    precision: bfloat16
    train_architecture: lora
model_parallel:
  _cpu_offloading_context: null
  async_tensor_model_parallel_allreduce: false
  autocast_dtype: torch.float32
  barrier_with_L1_time: true
  batch_p2p_comm: true
  batch_p2p_sync: true
  bf16: false
  context_parallel_size: 1
  cpu_offloading: false
  cpu_offloading_activations: false
  cpu_offloading_num_layers: 0
  cpu_offloading_weights: false
  cross_entropy_fusion_impl: native
  cross_entropy_loss_fusion: false
  deallocate_pipeline_outputs: false
  defer_embedding_wgrad_compute: false
  deterministic_mode: false
  enable_autocast: false
  expert_model_parallel_size: 1
  expert_tensor_parallel_size: 1
  finalize_model_grads_func: null
  fp16: false
  grad_scale_func: null
  grad_sync_func: null
  gradient_accumulation_fusion: false
  hierarchical_context_parallel_sizes: null
  microbatch_group_size_per_vp_stage: 1
  moe_extended_tp: false
  no_sync_func: null
  num_microbatches_with_partial_activation_checkpoints: null
  overlap_p2p_comm: false
  overlap_p2p_comm_warmup_flush: false
  param_sync_func: null
  params_dtype: torch.float32
  perform_initialization: true
  pipeline_dtype: null
  pipeline_model_parallel_comm_backend: null
  pipeline_model_parallel_size: 1
  pipeline_model_parallel_split_rank: null
  sequence_parallel: false
  tensor_model_parallel_size: 1
  timers: null
  tp_comm_atomic_ag: false
  tp_comm_atomic_rs: false
  tp_comm_bootstrap_backend: nccl
  tp_comm_bulk_dgrad: true
  tp_comm_bulk_wgrad: true
  tp_comm_overlap: false
  tp_comm_overlap_ag: true
  tp_comm_overlap_disable_fc1: false
  tp_comm_overlap_disable_qkv: false
  tp_comm_overlap_rs: true
  tp_comm_overlap_rs_dgrad: false
  tp_comm_split_ag: true
  tp_comm_split_rs: true
  use_cpu_initialization: false
  use_ring_exchange_p2p: false
  use_te_rng_tracker: false
  variable_seq_lengths: false
  virtual_pipeline_model_parallel_size: null
  wgrad_deferral_limit: 0
optimizer:
  _target_: <function get_base_optimizer at 0x79dcb0bc2b90>
  betas:
  - '0.9'
  - '0.99'
  capturable: 'True'
  eps: 1e-08
  lr: '4.445e-05'
  master_weights: 'True'
  model: null
  optim_type: fusedadam
  weight_decay: '0.1'
scheduler:
  _target_: <class 'cosmos_predict2.configs.defaults.scheduler.ConstantScheduler'>
trainer:
  callbacks:
    device_monitor:
      _target_: <class 'cosmos_predict2.callbacks.device_monitor.DeviceMonitor'>
      every_n: '1000'
      log_memory_detail: 'True'
      step_size: '1'
    ema:
      _target_: <class 'imaginaire.utils.callback.EMAModelCallback'>
      config: null
      trainer: null
    grad_clip:
      _target_: <class 'cosmos_predict2.callbacks.grad_clip.GradClip'>
      clip_norm: '10.0'
      force_finite: 'True'
      log_wandb: 'False'
    iter_speed:
      _target_: <class 'cosmos_predict2.callbacks.iter_speed.IterSpeed'>
      every_n: '1000'
      hit_thres: '5'
    low_prec:
      _target_: <class 'imaginaire.utils.callback.LowPrecisionCallback'>
      config: null
      trainer: null
      update_iter: '1'
    manual_gc:
      _target_: <class 'imaginaire.callbacks.manual_gc.ManualGarbageCollection'>
      every_n: '5'
      warm_up: '5'
    progress_bar:
      _target_: <class 'imaginaire.utils.callback.ProgressBarCallback'>
      config: null
      trainer: null
    video_eval:
      _target_: <class 'cosmos_predict2.callbacks.video_eval.VideoEvalCallback'>
      fuse_lora: 'True'
  cudnn:
    benchmark: 'True'
    deterministic: 'False'
  ddp:
    broadcast_buffers: 'True'
    find_unused_parameters: 'False'
    static_graph: 'True'
  distributed_parallelism: ddp
  grad_accum_iter: '4'
  grad_scaler_args:
    enabled: 'False'
  logging_iter: '1000'
  max_iter: '500'
  max_val_iter: null
  memory_format: torch.preserve_format
  profiling:
    enable_memory_snapshot: 'False'
    enable_profiling: 'False'
    first_n_rank: '4'
    profile_freq: '1'
    profile_memory: 'True'
    record_shape: 'True'
    with_modules: 'True'
    with_stack: 'True'
  run_validation: 'False'
  seed: '0'
  timeout_period: '999999999'
  type: <class 'imaginaire.trainer.ImaginaireTrainer'>
  validation_iter: '999999999'
video_dataset_train:
  _target_: <class 'cosmos_predict2.data.dataset_video.Dataset'>
  data_fps: '30.0'
  dataset_dir: /home/ubuntu/pdt-mimic/data/push-mimic
  exclude_with_substring: null
  include_only_with_substrings: null
  is_multi_img: 'False'
  is_val: 'False'
  num_frames: '61'
  obs_history: '5'
  val_ratio: '0.0'
  video_size:
  - '480'
  - '640'
video_dataset_val:
  _target_: <class 'cosmos_predict2.data.dataset_video.Dataset'>
  data_fps: '30.0'
  dataset_dir: /home/ubuntu/pdt-mimic/data/push-mimic
  exclude_with_substring: null
  include_only_with_substrings: null
  is_multi_img: 'False'
  is_val: 'True'
  num_frames: '61'
  obs_history: '5'
  val_ratio: '0.0'
  video_size:
  - '480'
  - '640'
world2action_pipe: null