Hugging Face's logo

zaleni
/
wsa-b-robotwin-abs-scratch-default

Safetensors
Model card Files
xet
 Community
zaleni commited on
Commit
c256e0c
·
verified ·
1 Parent(s): 9136541

Upload folder using huggingface_hub

Browse files
Files changed (4) hide show
  1. config.json +131 -0
  2. model.safetensors +3 -0
  3. stats.json +446 -0
  4. train_config.json +333 -0
config.json ADDED
@@ -0,0 +1,131 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "cubev2",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 32
9
+ ]
10
+ }
11
+ },
12
+ "output_features": {
13
+ "action": {
14
+ "type": "ACTION",
15
+ "shape": [
16
+ 32
17
+ ]
18
+ }
19
+ },
20
+ "device": "cuda:0",
21
+ "use_amp": false,
22
+ "push_to_hub": false,
23
+ "repo_id": "lerobot_lab/WSA_Base",
24
+ "private": null,
25
+ "tags": null,
26
+ "license": null,
27
+ "pretrained_path": null,
28
+ "qwen3_vl_variant": "qwen3_vl_28l",
29
+ "action_expert_variant": "qwen3_28l",
30
+ "qwen3_vl_pretrained_path": "/data/jjhao/data/model/Qwen3-VL-2B-Instruct",
31
+ "dtype": "bfloat16",
32
+ "chunk_size": 50,
33
+ "n_action_steps": 50,
34
+ "max_state_dim": 32,
35
+ "max_action_dim": 32,
36
+ "mask_action_dim_padding_loss": false,
37
+ "action_loss_valid_dim": null,
38
+ "num_inference_steps": 10,
39
+ "time_sampling_beta_alpha": 1.5,
40
+ "time_sampling_beta_beta": 1.0,
41
+ "time_sampling_scale": 0.999,
42
+ "time_sampling_offset": 0.001,
43
+ "min_period": 0.004,
44
+ "max_period": 4.0,
45
+ "attention_mask_mode": "default",
46
+ "image_resolution": [
47
+ 224,
48
+ 224
49
+ ],
50
+ "image_delta_indices": [
51
+ -15,
52
+ 0,
53
+ 15
54
+ ],
55
+ "empty_cameras": 0,
56
+ "normalization_mapping": {
57
+ "VISUAL": "IDENTITY",
58
+ "STATE": "IDENTITY",
59
+ "ACTION": "IDENTITY"
60
+ },
61
+ "gradient_checkpointing": false,
62
+ "compile_model": false,
63
+ "compile_mode": "max-autotune",
64
+ "optimizer_lr": 5e-05,
65
+ "optimizer_betas": [
66
+ 0.9,
67
+ 0.95
68
+ ],
69
+ "optimizer_eps": 1e-08,
70
+ "optimizer_weight_decay": 0.01,
71
+ "optimizer_grad_clip_norm": 1.0,
72
+ "scheduler_warmup_steps": 1000,
73
+ "scheduler_decay_steps": 150000,
74
+ "scheduler_decay_lr": 5e-06,
75
+ "tokenizer_max_length": 48,
76
+ "freeze_vision_encoder": false,
77
+ "train_expert_only": false,
78
+ "train_vlm_only": false,
79
+ "lora_modules": [],
80
+ "lora_unselected_mode": "full",
81
+ "lora_targets": [
82
+ "attn",
83
+ "ffn"
84
+ ],
85
+ "lora_rank": 16,
86
+ "lora_alpha": 32.0,
87
+ "lora_rank_und": null,
88
+ "lora_alpha_und": null,
89
+ "lora_rank_gen": null,
90
+ "lora_alpha_gen": null,
91
+ "lora_rank_act": null,
92
+ "lora_alpha_act": null,
93
+ "lora_dropout": 0.0,
94
+ "scale_factor": 8,
95
+ "lambda_gen": 0.01,
96
+ "cosmos_tokenizer_path_or_name": "/data/jjhao/data/model/Cosmos-Tokenizer-CI8x8",
97
+ "enable_3d_queries": true,
98
+ "num_3d_query_tokens": 432,
99
+ "da3_alignment_mode": "query_decoder",
100
+ "da3_query_resampler_layers": 1,
101
+ "da3_query_resampler_ff_mult": 1,
102
+ "query_layer_indices": [
103
+ 13,
104
+ 19,
105
+ 23,
106
+ 27
107
+ ],
108
+ "da3_variant": "large",
109
+ "da3_teacher_layers": [
110
+ 11,
111
+ 15,
112
+ 19,
113
+ 23
114
+ ],
115
+ "da3_query_dim": 2048,
116
+ "da3_tokens_per_view": 1296,
117
+ "da3_num_views": 3,
118
+ "lambda_3d": 0.01,
119
+ "da3_model_path_or_name": "/data/jjhao/data/model/DA3-LARGE-1.1",
120
+ "da3_model_name": null,
121
+ "da3_code_root": "/data/jjhao/WSA_Dev/third_party/Depth-Anything-3",
122
+ "da3_teacher_process_res": 504,
123
+ "da3_layer_weights": [
124
+ 1.0,
125
+ 1.2,
126
+ 1.4,
127
+ 1.6
128
+ ],
129
+ "future_query_init_std": 0.02,
130
+ "log_da3_teacher_timing": true
131
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f420dc17aaedb91b3a37ce7ba164dc8a4309b50e3f5d038ed35406887ac5164f
3
+ size 6608313224
stats.json ADDED
@@ -0,0 +1,446 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "aloha": {
3
+ "observation.state": {
4
+ "min": [
5
+ -7.552278995513916,
6
+ -0.36354875564575195,
7
+ -0.18577136099338531,
8
+ -1.956291913986206,
9
+ -1.6801013946533203,
10
+ -7.678869724273682,
11
+ 0.0,
12
+ -8.539926528930664,
13
+ -0.6294453740119934,
14
+ -0.07775841653347015,
15
+ -2.1328067779541016,
16
+ -2.1285502910614014,
17
+ -8.228925704956055,
18
+ 0.0
19
+ ],
20
+ "max": [
21
+ 6.45659065246582,
22
+ 4.179152488708496,
23
+ 5.346591472625732,
24
+ 1.7942548990249634,
25
+ 1.8604620695114136,
26
+ 5.43813943862915,
27
+ 1.0,
28
+ 7.142920017242432,
29
+ 4.157068729400635,
30
+ 5.672450065612793,
31
+ 1.95806884765625,
32
+ 1.5663840770721436,
33
+ 5.278968811035156,
34
+ 1.0
35
+ ],
36
+ "mean": [
37
+ -0.23838327825069427,
38
+ 1.129874348640442,
39
+ 0.8068663477897644,
40
+ -0.3102293312549591,
41
+ 0.05489448457956314,
42
+ -0.03798479959368706,
43
+ 0.6655772924423218,
44
+ 0.21665608882904053,
45
+ 1.0790668725967407,
46
+ 0.7875725626945496,
47
+ -0.3211246132850647,
48
+ -0.017505262047052383,
49
+ 0.03539634123444557,
50
+ 0.6794788837432861
51
+ ],
52
+ "std": [
53
+ 0.4151541292667389,
54
+ 1.0045647621154785,
55
+ 0.7768041491508484,
56
+ 0.673305869102478,
57
+ 0.27081969380378723,
58
+ 0.6197779774665833,
59
+ 0.4546463191509247,
60
+ 0.3492097854614258,
61
+ 1.024953842163086,
62
+ 0.7943670153617859,
63
+ 0.6847946047782898,
64
+ 0.2443752884864807,
65
+ 0.6142938733100891,
66
+ 0.44977256655693054
67
+ ],
68
+ "count": [
69
+ 6075103
70
+ ]
71
+ },
72
+ "timestamp": {
73
+ "min": [
74
+ 0.0
75
+ ],
76
+ "max": [
77
+ 4.533333333333333
78
+ ],
79
+ "mean": [
80
+ 1.6372892807675414
81
+ ],
82
+ "std": [
83
+ 0.9676290760418356
84
+ ],
85
+ "count": [
86
+ 49335
87
+ ]
88
+ },
89
+ "action": {
90
+ "min": [
91
+ -7.552278995513916,
92
+ -0.36354875564575195,
93
+ -0.18577136099338531,
94
+ -1.956291913986206,
95
+ -1.6801013946533203,
96
+ -7.678869724273682,
97
+ 0.0,
98
+ -8.539926528930664,
99
+ -0.6294453740119934,
100
+ -0.07775841653347015,
101
+ -2.1328067779541016,
102
+ -2.1285502910614014,
103
+ -8.228925704956055,
104
+ 0.0
105
+ ],
106
+ "max": [
107
+ 6.45659065246582,
108
+ 4.179152488708496,
109
+ 5.346591472625732,
110
+ 1.7942548990249634,
111
+ 1.8604620695114136,
112
+ 5.43813943862915,
113
+ 1.0,
114
+ 7.142920017242432,
115
+ 4.157068729400635,
116
+ 5.672450065612793,
117
+ 1.95806884765625,
118
+ 1.5663840770721436,
119
+ 5.278968811035156,
120
+ 1.0
121
+ ],
122
+ "mean": [
123
+ -0.23945418000221252,
124
+ 1.1346182823181152,
125
+ 0.8103252649307251,
126
+ -0.31154367327690125,
127
+ 0.055183593183755875,
128
+ -0.03852220997214317,
129
+ 0.6643287539482117,
130
+ 0.2180495411157608,
131
+ 1.0846160650253296,
132
+ 0.791621744632721,
133
+ -0.32262614369392395,
134
+ -0.017654698342084885,
135
+ 0.03604534640908241,
136
+ 0.6783739924430847
137
+ ],
138
+ "std": [
139
+ 0.41571953892707825,
140
+ 1.0039602518081665,
141
+ 0.7768447995185852,
142
+ 0.6748389005661011,
143
+ 0.27154842019081116,
144
+ 0.6218780875205994,
145
+ 0.455098956823349,
146
+ 0.349867582321167,
147
+ 1.024841547012329,
148
+ 0.7946923971176147,
149
+ 0.6867099404335022,
150
+ 0.24531899392604828,
151
+ 0.6170235872268677,
152
+ 0.4502118229866028
153
+ ],
154
+ "count": [
155
+ 6075103
156
+ ]
157
+ },
158
+ "frame_index": {
159
+ "min": [
160
+ 0
161
+ ],
162
+ "max": [
163
+ 136
164
+ ],
165
+ "mean": [
166
+ 49.118678423026246
167
+ ],
168
+ "std": [
169
+ 29.02887228125506
170
+ ],
171
+ "count": [
172
+ 49335
173
+ ]
174
+ },
175
+ "task_index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 488
181
+ ],
182
+ "mean": [
183
+ 241.3758791932705
184
+ ],
185
+ "std": [
186
+ 141.15870396113672
187
+ ],
188
+ "count": [
189
+ 49335
190
+ ]
191
+ },
192
+ "episode_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 499
198
+ ],
199
+ "mean": [
200
+ 249.582101956015
201
+ ],
202
+ "std": [
203
+ 144.09172466866306
204
+ ],
205
+ "count": [
206
+ 49335
207
+ ]
208
+ },
209
+ "observation.images.cam_high": {
210
+ "min": [
211
+ [
212
+ [
213
+ 0.0
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 0.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.0
224
+ ]
225
+ ]
226
+ ],
227
+ "max": [
228
+ [
229
+ [
230
+ 1.0
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 1.0
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 1.0
241
+ ]
242
+ ]
243
+ ],
244
+ "mean": [
245
+ [
246
+ [
247
+ 0.48500001430511475
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.4560000002384186
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.4059999883174896
258
+ ]
259
+ ]
260
+ ],
261
+ "std": [
262
+ [
263
+ [
264
+ 0.2290000021457672
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.2240000069141388
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.22499999403953552
275
+ ]
276
+ ]
277
+ ],
278
+ "count": [
279
+ 48318
280
+ ]
281
+ },
282
+ "observation.images.cam_left_wrist": {
283
+ "min": [
284
+ [
285
+ [
286
+ 0.0
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.0
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.0
297
+ ]
298
+ ]
299
+ ],
300
+ "max": [
301
+ [
302
+ [
303
+ 1.0
304
+ ]
305
+ ],
306
+ [
307
+ [
308
+ 1.0
309
+ ]
310
+ ],
311
+ [
312
+ [
313
+ 1.0
314
+ ]
315
+ ]
316
+ ],
317
+ "mean": [
318
+ [
319
+ [
320
+ 0.48500001430511475
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.4560000002384186
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.4059999883174896
331
+ ]
332
+ ]
333
+ ],
334
+ "std": [
335
+ [
336
+ [
337
+ 0.2290000021457672
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 0.2240000069141388
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 0.22499999403953552
348
+ ]
349
+ ]
350
+ ],
351
+ "count": [
352
+ 48318
353
+ ]
354
+ },
355
+ "observation.images.cam_right_wrist": {
356
+ "min": [
357
+ [
358
+ [
359
+ 0.0
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.0
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ]
372
+ ],
373
+ "max": [
374
+ [
375
+ [
376
+ 1.0
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 1.0
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 1.0
387
+ ]
388
+ ]
389
+ ],
390
+ "mean": [
391
+ [
392
+ [
393
+ 0.48500001430511475
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.4560000002384186
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.4059999883174896
404
+ ]
405
+ ]
406
+ ],
407
+ "std": [
408
+ [
409
+ [
410
+ 0.2290000021457672
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.2240000069141388
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.22499999403953552
421
+ ]
422
+ ]
423
+ ],
424
+ "count": [
425
+ 48318
426
+ ]
427
+ },
428
+ "index": {
429
+ "min": [
430
+ 0
431
+ ],
432
+ "max": [
433
+ 49334
434
+ ],
435
+ "mean": [
436
+ 24667.0
437
+ ],
438
+ "std": [
439
+ 14241.78776230943
440
+ ],
441
+ "count": [
442
+ 49335
443
+ ]
444
+ }
445
+ }
446
+ }
train_config.json ADDED
@@ -0,0 +1,333 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "type": "cubev2",
4
+ "repo_id": "multidata_from_file",
5
+ "repo_id_file": "/data/jjhao/WSA_Dev/outputs/WSA_Base/robotwin/_repo_id_files/WSA-Base-robotwin-abs-scratch-default-train-2026_08_08_13_01_13.txt",
6
+ "root": null,
7
+ "episodes": null,
8
+ "image_transforms": {
9
+ "enable": false,
10
+ "preset": null,
11
+ "max_num_transforms": 3,
12
+ "random_order": false,
13
+ "tfs": {
14
+ "brightness": {
15
+ "weight": 1.0,
16
+ "type": "ColorJitter",
17
+ "kwargs": {
18
+ "brightness": [
19
+ 0.8,
20
+ 1.2
21
+ ]
22
+ }
23
+ },
24
+ "contrast": {
25
+ "weight": 1.0,
26
+ "type": "ColorJitter",
27
+ "kwargs": {
28
+ "contrast": [
29
+ 0.8,
30
+ 1.2
31
+ ]
32
+ }
33
+ },
34
+ "saturation": {
35
+ "weight": 1.0,
36
+ "type": "ColorJitter",
37
+ "kwargs": {
38
+ "saturation": [
39
+ 0.5,
40
+ 1.5
41
+ ]
42
+ }
43
+ },
44
+ "hue": {
45
+ "weight": 1.0,
46
+ "type": "ColorJitter",
47
+ "kwargs": {
48
+ "hue": [
49
+ -0.05,
50
+ 0.05
51
+ ]
52
+ }
53
+ },
54
+ "sharpness": {
55
+ "weight": 1.0,
56
+ "type": "SharpnessJitter",
57
+ "kwargs": {
58
+ "sharpness": [
59
+ 0.5,
60
+ 1.5
61
+ ]
62
+ }
63
+ },
64
+ "affine": {
65
+ "weight": 1.0,
66
+ "type": "RandomAffine",
67
+ "kwargs": {
68
+ "degrees": [
69
+ -5.0,
70
+ 5.0
71
+ ],
72
+ "translate": [
73
+ 0.05,
74
+ 0.05
75
+ ]
76
+ }
77
+ }
78
+ }
79
+ },
80
+ "revision": null,
81
+ "use_imagenet_stats": true,
82
+ "use_external_stats": true,
83
+ "external_stats_path": "/data/jjhao/huggingface/lerobot/stats/aloha/abs/robotwin_clean_randomized_all/stats.json",
84
+ "external_stats_root": "/data/jjhao/huggingface/lerobot/stats",
85
+ "weight_rules_path": null,
86
+ "video_backend": "pyav",
87
+ "streaming": false,
88
+ "dist_loading": false,
89
+ "buffer_size": 1024,
90
+ "action_mode": "abs",
91
+ "repack_transforms": {
92
+ "inputs": [],
93
+ "outputs": []
94
+ },
95
+ "data_transforms": {
96
+ "inputs": [
97
+ {
98
+ "type": "resize_with_pad",
99
+ "height": 224,
100
+ "width": 224,
101
+ "mode": "bilinear"
102
+ },
103
+ {
104
+ "type": "remap_image_key",
105
+ "mapping": {}
106
+ },
107
+ {
108
+ "type": "normalize",
109
+ "selected_keys": null,
110
+ "mode": "mean_std",
111
+ "norm_stats": {}
112
+ },
113
+ {
114
+ "type": "compose_fields",
115
+ "mapping": {}
116
+ },
117
+ {
118
+ "type": "pad_state_and_action",
119
+ "max_state_dim": 32,
120
+ "max_action_dim": 32
121
+ },
122
+ {
123
+ "type": "cubev2_processor",
124
+ "pretrained_model_name_or_path": "/data/jjhao/data/model/Qwen3-VL-2B-Instruct",
125
+ "max_length": 48,
126
+ "task_key": "task",
127
+ "padding_side": "right",
128
+ "padding": "max_length",
129
+ "truncation": true,
130
+ "spatial_merge_size": 2,
131
+ "vision_start_token_id": 151652,
132
+ "vision_end_token_id": 151653,
133
+ "image_token_id": 151655,
134
+ "processor": null,
135
+ "_processor_source": null
136
+ },
137
+ {
138
+ "type": "unify_cubev2_inputs"
139
+ }
140
+ ],
141
+ "outputs": []
142
+ },
143
+ "model_transforms": {
144
+ "inputs": [],
145
+ "outputs": []
146
+ },
147
+ "height": 224,
148
+ "width": 224,
149
+ "max_state_dim": 32,
150
+ "max_action_dim": 32,
151
+ "qwen3_vl_processor_path": "/data/jjhao/data/model/Qwen3-VL-2B-Instruct"
152
+ },
153
+ "env": null,
154
+ "policy": {
155
+ "type": "cubev2",
156
+ "n_obs_steps": 1,
157
+ "input_features": {
158
+ "observation.state": {
159
+ "type": "STATE",
160
+ "shape": [
161
+ 32
162
+ ]
163
+ }
164
+ },
165
+ "output_features": {
166
+ "action": {
167
+ "type": "ACTION",
168
+ "shape": [
169
+ 32
170
+ ]
171
+ }
172
+ },
173
+ "device": "cuda:0",
174
+ "use_amp": false,
175
+ "push_to_hub": false,
176
+ "repo_id": "lerobot_lab/WSA_Base",
177
+ "private": null,
178
+ "tags": null,
179
+ "license": null,
180
+ "pretrained_path": null,
181
+ "qwen3_vl_variant": "qwen3_vl_28l",
182
+ "action_expert_variant": "qwen3_28l",
183
+ "qwen3_vl_pretrained_path": "/data/jjhao/data/model/Qwen3-VL-2B-Instruct",
184
+ "dtype": "bfloat16",
185
+ "chunk_size": 50,
186
+ "n_action_steps": 50,
187
+ "max_state_dim": 32,
188
+ "max_action_dim": 32,
189
+ "mask_action_dim_padding_loss": false,
190
+ "action_loss_valid_dim": null,
191
+ "num_inference_steps": 10,
192
+ "time_sampling_beta_alpha": 1.5,
193
+ "time_sampling_beta_beta": 1.0,
194
+ "time_sampling_scale": 0.999,
195
+ "time_sampling_offset": 0.001,
196
+ "min_period": 0.004,
197
+ "max_period": 4.0,
198
+ "attention_mask_mode": "default",
199
+ "image_resolution": [
200
+ 224,
201
+ 224
202
+ ],
203
+ "image_delta_indices": [
204
+ -15,
205
+ 0,
206
+ 15
207
+ ],
208
+ "empty_cameras": 0,
209
+ "normalization_mapping": {
210
+ "VISUAL": "IDENTITY",
211
+ "STATE": "IDENTITY",
212
+ "ACTION": "IDENTITY"
213
+ },
214
+ "gradient_checkpointing": false,
215
+ "compile_model": false,
216
+ "compile_mode": "max-autotune",
217
+ "optimizer_lr": 5e-05,
218
+ "optimizer_betas": [
219
+ 0.9,
220
+ 0.95
221
+ ],
222
+ "optimizer_eps": 1e-08,
223
+ "optimizer_weight_decay": 0.01,
224
+ "optimizer_grad_clip_norm": 1.0,
225
+ "scheduler_warmup_steps": 1000,
226
+ "scheduler_decay_steps": 150000,
227
+ "scheduler_decay_lr": 5e-06,
228
+ "tokenizer_max_length": 48,
229
+ "freeze_vision_encoder": false,
230
+ "train_expert_only": false,
231
+ "train_vlm_only": false,
232
+ "lora_modules": [],
233
+ "lora_unselected_mode": "full",
234
+ "lora_targets": [
235
+ "attn",
236
+ "ffn"
237
+ ],
238
+ "lora_rank": 16,
239
+ "lora_alpha": 32.0,
240
+ "lora_rank_und": null,
241
+ "lora_alpha_und": null,
242
+ "lora_rank_gen": null,
243
+ "lora_alpha_gen": null,
244
+ "lora_rank_act": null,
245
+ "lora_alpha_act": null,
246
+ "lora_dropout": 0.0,
247
+ "scale_factor": 8,
248
+ "lambda_gen": 0.01,
249
+ "cosmos_tokenizer_path_or_name": "/data/jjhao/data/model/Cosmos-Tokenizer-CI8x8",
250
+ "enable_3d_queries": true,
251
+ "num_3d_query_tokens": 432,
252
+ "da3_alignment_mode": "query_decoder",
253
+ "da3_query_resampler_layers": 1,
254
+ "da3_query_resampler_ff_mult": 1,
255
+ "query_layer_indices": [
256
+ 13,
257
+ 19,
258
+ 23,
259
+ 27
260
+ ],
261
+ "da3_variant": "large",
262
+ "da3_teacher_layers": [
263
+ 11,
264
+ 15,
265
+ 19,
266
+ 23
267
+ ],
268
+ "da3_query_dim": 2048,
269
+ "da3_tokens_per_view": 1296,
270
+ "da3_num_views": 3,
271
+ "lambda_3d": 0.01,
272
+ "da3_model_path_or_name": "/data/jjhao/data/model/DA3-LARGE-1.1",
273
+ "da3_model_name": null,
274
+ "da3_code_root": "/data/jjhao/WSA_Dev/third_party/Depth-Anything-3",
275
+ "da3_teacher_process_res": 504,
276
+ "da3_layer_weights": [
277
+ 1.0,
278
+ 1.2,
279
+ 1.4,
280
+ 1.6
281
+ ],
282
+ "future_query_init_std": 0.02,
283
+ "log_da3_teacher_timing": true
284
+ },
285
+ "output_dir": "/data/jjhao/WSA_Dev/outputs/WSA_Base/robotwin/WSA-Base-robotwin-abs-scratch-default-train-2026_08_08_13_01_13",
286
+ "job_name": "WSA-Base-robotwin-abs-scratch-default-train-2026_08_08_13_01_13",
287
+ "resume": false,
288
+ "seed": 42,
289
+ "num_workers": 12,
290
+ "batch_size": 8,
291
+ "gradient_accumulation_steps": 1,
292
+ "steps": 150000,
293
+ "eval_freq": 20000,
294
+ "eval_max_batches": 2,
295
+ "log_freq": 100,
296
+ "save_checkpoint": true,
297
+ "save_freq": 30000,
298
+ "use_policy_training_preset": true,
299
+ "optimizer": {
300
+ "type": "adamw",
301
+ "lr": 5e-05,
302
+ "weight_decay": 0.01,
303
+ "grad_clip_norm": 1.0,
304
+ "betas": [
305
+ 0.9,
306
+ 0.95
307
+ ],
308
+ "eps": 1e-08
309
+ },
310
+ "scheduler": {
311
+ "type": "cosine_decay_with_warmup",
312
+ "num_warmup_steps": 1000,
313
+ "num_decay_steps": 150000,
314
+ "peak_lr": 5e-05,
315
+ "decay_lr": 5e-06
316
+ },
317
+ "eval": {
318
+ "n_episodes": 50,
319
+ "batch_size": 50,
320
+ "use_async_envs": false
321
+ },
322
+ "wandb": {
323
+ "enable": true,
324
+ "disable_artifact": true,
325
+ "project": "WSA_Base",
326
+ "entity": null,
327
+ "notes": null,
328
+ "run_id": "1tht6jso",
329
+ "mode": "offline"
330
+ },
331
+ "checkpoint_path": null,
332
+ "rename_map": {}
333
+ }