| { |
| "type": "WSA_Large", |
| "n_obs_steps": 1, |
| "input_features": { |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 24 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 24 |
| ] |
| } |
| }, |
| "device": "cuda:0", |
| "use_amp": false, |
| "push_to_hub": false, |
| "repo_id": "zaleni/WSA-Large-LIBERO", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "pretrained_path": "zaleni/WSA-Large", |
| "variant": "wsa_large", |
| "model_id": "Wan-AI/Wan2.2-TI2V-5B", |
| "tokenizer_model_id": "Wan-AI/Wan2.1-T2V-1.3B", |
| "tokenizer_max_len": 128, |
| "load_text_encoder": false, |
| "redirect_common_files": true, |
| "mot_checkpoint_mixed_attn": false, |
| "skip_dit_load_from_pretrain": true, |
| "action_dit_pretrained_path": "checkpoints/wsa_large/ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt", |
| "future_3d_pretrained_path": "checkpoints/wsa_large/Future3DExpert_linear_interp_Wan22_alphascale_768hdim.pt", |
| "native_checkpoint_path": null, |
| "dtype": "bfloat16", |
| "action_dim": 24, |
| "proprio_dim": 24, |
| "action_horizon": 12, |
| "n_action_steps": 5, |
| "num_inference_steps": 10, |
| "video_dit_config": { |
| "has_image_input": false, |
| "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, |
| "require_clip_embedding": false, |
| "require_vae_embedding": false, |
| "fuse_vae_embedding_in_latents": true, |
| "use_gradient_checkpointing": false, |
| "video_attention_mask_mode": "first_frame_causal", |
| "action_conditioned": false, |
| "action_dim": 24, |
| "action_group_causal_mask_mode": "group_diagonal" |
| }, |
| "action_dit_config": { |
| "action_dim": 24, |
| "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": false |
| }, |
| "future_3d_config": { |
| "hidden_dim": 768, |
| "ffn_dim": 3072, |
| "text_dim": 4096, |
| "freq_dim": 256, |
| "eps": 1e-06, |
| "num_heads": 24, |
| "attn_head_dim": 128, |
| "num_layers": 30, |
| "num_query_tokens": 432, |
| "da3_num_views": 2, |
| "da3_tokens_per_view": 1296, |
| "da3_query_dim": 2048, |
| "query_layer_indices": [ |
| 14, |
| 19, |
| 24, |
| 29 |
| ], |
| "future_query_init_std": 0.02, |
| "query_mode": "slot_noise", |
| "query_noise_scale": 0.5, |
| "query_noise_min_sigma": 0.0, |
| "query_noise_max_sigma": 0.5, |
| "query_sigma_source": "constant", |
| "slot_pos_scale": 0.5, |
| "use_gradient_checkpointing": false |
| }, |
| "lambda_3d": 0.1, |
| "da3_variant": "large", |
| "da3_teacher_layers": [ |
| 11, |
| 15, |
| 19, |
| 23 |
| ], |
| "da3_query_dim": 2048, |
| "da3_tokens_per_view": 1296, |
| "da3_num_views": 2, |
| "future_3d_tokens_per_view": 216, |
| "future_3d_view_attention_layout": "horizontal", |
| "da3_model_path_or_name": "depth-anything/DA3-LARGE-1.1", |
| "da3_model_name": null, |
| "da3_code_root": null, |
| "da3_teacher_process_res": 504, |
| "da3_layer_weights": [ |
| 1.0, |
| 1.2, |
| 1.4, |
| 1.6 |
| ], |
| "future_query_init_std": 0.02, |
| "future_3d_query_mode": "slot_noise", |
| "future_3d_query_noise_scale": 0.5, |
| "future_3d_query_noise_min_sigma": 0.0, |
| "future_3d_query_noise_max_sigma": 0.5, |
| "future_3d_query_sigma_source": "constant", |
| "future_3d_slot_pos_scale": 0.5, |
| "future_3d_target_index": -1, |
| "log_da3_teacher_timing": false, |
| "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 |
| }, |
| "lambda_video": 0.1, |
| "lambda_action": 1.0, |
| "action_norm_use_stepwise": false, |
| "action_norm_default_mode": "z-score", |
| "action_norm_exception_mode": null, |
| "action_stats_path": null, |
| "optimizer_lr": 7.5e-05, |
| "optimizer_betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "optimizer_eps": 1e-08, |
| "optimizer_weight_decay": 0.01, |
| "optimizer_grad_clip_norm": 1.0, |
| "scheduler_type": "cosine", |
| "scheduler_warmup_steps": 2000, |
| "scheduler_warmup_ratio": 0.05, |
| "scheduler_decay_lr": 5e-06, |
| "train_num_epochs": null, |
| "train_max_steps": null |
| } |
