Instructions to use zaleni/WSA-Large-LIBERO with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use zaleni/WSA-Large-LIBERO with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "dataset": { | |
| "type": "WSA_Large", | |
| "repo_id": "multidata_from_file", | |
| "repo_id_file": "outputs/WSA_Large/_repo_id_files/wsa_large-pretrained-libero4-2026_05_21_18_03_05.txt", | |
| "root": null, | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "preset": null, | |
| "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": { | |
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| 0.5, | |
| 1.5 | |
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| "hue": { | |
| "weight": 1.0, | |
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| "kwargs": { | |
| "hue": [ | |
| -0.05, | |
| 0.05 | |
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| "sharpness": { | |
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| "kwargs": { | |
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| 0.5, | |
| 1.5 | |
| ] | |
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| }, | |
| "affine": { | |
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| "type": "RandomAffine", | |
| "kwargs": { | |
| "degrees": [ | |
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| 5.0 | |
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| "translate": [ | |
| 0.05, | |
| 0.05 | |
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| "revision": null, | |
| "use_imagenet_stats": true, | |
| "use_external_stats": false, | |
| "external_stats_path": null, | |
| "external_stats_root": null, | |
| "weight_rules_path": null, | |
| "video_backend": "torchcodec", | |
| "streaming": false, | |
| "dist_loading": false, | |
| "buffer_size": 1024, | |
| "action_mode": "abs", | |
| "repack_transforms": { | |
| "inputs": [], | |
| "outputs": [] | |
| }, | |
| "data_transforms": { | |
| "inputs": [], | |
| "outputs": [] | |
| }, | |
| "model_transforms": { | |
| "inputs": [], | |
| "outputs": [] | |
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| "dataset_dirs": [], | |
| "image_keys": [ | |
| "image", | |
| "wrist_image" | |
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| "image_raw_shapes": [ | |
| [ | |
| 3, | |
| 512, | |
| 512 | |
| ], | |
| [ | |
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| "image_shapes": [ | |
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| [ | |
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| 224, | |
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| "action_keys": [ | |
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| "action_raw_shapes": [ | |
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| "action_shapes": [ | |
| 7 | |
| ], | |
| "state_keys": [ | |
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| "state_raw_shapes": [ | |
| 8 | |
| ], | |
| "state_shapes": [ | |
| 8 | |
| ], | |
| "num_frames": 13, | |
| "global_sample_stride": 1, | |
| "action_video_freq_ratio": 3, | |
| "video_size": [ | |
| 224, | |
| 448 | |
| ], | |
| "standardize_video_size_by_cameras": true, | |
| "camera_key": null, | |
| "val_set_proportion": 0.0, | |
| "skip_padding_as_possible": false, | |
| "max_padding_retry": 3, | |
| "concat_multi_camera": "horizontal", | |
| "override_instruction": null, | |
| "return_future_3d_images": true, | |
| "future_3d_target_index": -1, | |
| "processor_num_output_cameras": 2, | |
| "processor_action_output_dim": 24, | |
| "processor_proprio_output_dim": 24, | |
| "processor_resize_shape": null, | |
| "processor_use_stepwise_action_norm": false, | |
| "processor_norm_default_mode": "z-score", | |
| "processor_use_zh_instruction": false, | |
| "processor_delta_action_dim_mask": { | |
| "default": [ | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| true, | |
| false | |
| ] | |
| }, | |
| "pretrain_multi_embodiment": false, | |
| "text_embedding_cache_dir": "outputs/WSA_Large/text_embeds/libero", | |
| "context_len": 128, | |
| "normalization_stats_path": "outputs/norm_stats/libero_all_chunk10/franka/abs/stats.json", | |
| "dataset_sampling_weights": [] | |
| }, | |
| "env": null, | |
| "policy": { | |
| "type": "WSA_Large", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 24 | |
| ] | |
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| }, | |
| "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": { | |
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| "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": [ | |
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| 1.2, | |
| 1.4, | |
| 1.6 | |
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| "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 | |
| }, | |
| "output_dir": "outputs/WSA_Large/wsa_large-pretrained-libero4-2026_05_21_18_03_05", | |
| "job_name": "wsa_large-pretrained-libero4-2026_05_21_18_03_05", | |
| "resume": false, | |
| "seed": 42, | |
| "num_workers": 12, | |
| "batch_size": 16, | |
| "gradient_accumulation_steps": 1, | |
| "steps": 110000, | |
| "eval_freq": 2000, | |
| "eval_max_batches": 2, | |
| "log_freq": 200, | |
| "save_checkpoint": true, | |
| "save_freq": 20000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 7.5e-05, | |
| "weight_decay": 0.01, | |
| "grad_clip_norm": 1.0, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": { | |
| "type": "wsa_large_native", | |
| "num_warmup_steps": 2000, | |
| "peak_lr": 7.5e-05, | |
| "min_lr_ratio": 0.06666666666666668, | |
| "scheduler_type": "cosine", | |
| "warmup_ratio": 0.05 | |
| }, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": false | |
| }, | |
| "wandb": { | |
| "enable": false, | |
| "disable_artifact": true, | |
| "project": "WSA_Large-LIBERO", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": null, | |
| "mode": null | |
| }, | |
| "checkpoint_path": null, | |
| "rename_map": {} | |
| } |