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+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
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+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.7z filter=lfs diff=lfs merge=lfs -text

LICENSE

@@ -0,0 +1,201 @@
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MODEL_MANIFEST.json

@@ -0,0 +1,76 @@
+{
+  "schema_version": 1,
+  "repo_id": "KhalilGao/DynamicWAM",
+  "release_date": "2026-08-01",
+  "source_repository": "https://github.com/Autumn1337/DynamicWAM",
+  "source_revision_at_release": "7d4e83916e2b29bb675c651db5b62eb8b7e9ed9a",
+  "variants": [
+    {
+      "id": "dynamicwam_wo_motion",
+      "display_name": "DynamicWAM (w/o motion)",
+      "checkpoint": {
+        "path": "checkpoints/dynamicwam_wo_motion/model.pt",
+        "size_bytes": 1976638827,
+        "sha256": "fa88a1f33f2205db5a4534e09bb02d1bee9dea7b2049299ac68932a34de82f03",
+        "global_step": 40000,
+        "top_level_keys": ["config", "global_step", "model"],
+        "state_dict_key_count": 470
+      },
+      "action_statistics": {
+        "path": "checkpoints/dynamicwam_wo_motion/action_stats.json",
+        "size_bytes": 1775,
+        "sha256": "730a91e41b6a23c70cec49cd222835373ba9364680da5753f4408c5534319b04"
+      },
+      "motion_conditioning": {
+        "history_flow_rgb": true,
+        "explicit_absolute_motion_descriptors": false
+      },
+      "training_data": {
+        "repo_id": "KhalilGao/DynamicWAM-data",
+        "path": "dynamicwam_wo_motion",
+        "dataset_fingerprint": "bc20355aa094585499c2ade05d8bcfdb1f082aabc73259ebcded694e3301c425"
+      },
+      "domino_level1": {
+        "task_count": 35,
+        "episodes_per_task": 100,
+        "successes": 953,
+        "episodes": 3500,
+        "success_rate_percent": 27.228571428571428,
+        "manipulation_score": 41.6244
+      }
+    },
+    {
+      "id": "dynamicwam",
+      "display_name": "DynamicWAM",
+      "checkpoint": {
+        "path": "checkpoints/dynamicwam/model.pt",
+        "size_bytes": 1977857939,
+        "sha256": "7c0dfc44a785ea1f6bd1f833f09dcadc2e470dadb1ba5508fa98918e147671d7",
+        "global_step": 40000,
+        "format": "dynamicwam_absolute_motion_checkpoint",
+        "version": 2
+      },
+      "action_statistics": {
+        "path": "checkpoints/dynamicwam/action_stats.json",
+        "size_bytes": 1775,
+        "sha256": "730a91e41b6a23c70cec49cd222835373ba9364680da5753f4408c5534319b04"
+      },
+      "motion_conditioning": {
+        "history_flow_rgb": true,
+        "explicit_absolute_motion_descriptors": true
+      },
+      "training_data": {
+        "repo_id": "KhalilGao/DOMINO_absolute_motion_v2",
+        "dataset_fingerprint": "2feac8645817e3a896afd855341130f23a6d92bfd28917f4cb3e2dbb4eb68154"
+      },
+      "domino_level1": {
+        "task_count": 35,
+        "episodes_per_task": 100,
+        "successes": 1337,
+        "episodes": 3500,
+        "success_rate_percent": 38.2,
+        "manipulation_score": 53.16
+      }
+    }
+  ]
+}

README.md

@@ -0,0 +1,98 @@
+---
+license: apache-2.0
+library_name: pytorch
+tags:
+- robotics
+- robot-manipulation
+- world-model
+- imitation-learning
+- video-policy
+- optical-flow
+- domino
+- dynamicwam
+---
+
+# DynamicWAM
+
+Official DynamicWAM checkpoints for DOMINO manipulation. This repository is
+organized by paper-facing model variant; each checkpoint is paired with its
+action-normalization statistics and immutable configuration snapshots.
+
+## Released variants
+
+| Paper name | Checkpoint | Motion conditioning | DOMINO Level 1 |
+|---|---|---|---:|
+| **DynamicWAM (w/o motion)** | [`checkpoints/dynamicwam_wo_motion/model.pt`](checkpoints/dynamicwam_wo_motion/model.pt) | Four history Flow-RGB intervals; **no explicit absolute-motion descriptor tokens** | 953/3,500, SR 27.23%, MS 41.6244 |
+| **DynamicWAM** | [`checkpoints/dynamicwam/model.pt`](checkpoints/dynamicwam/model.pt) | History Flow RGB + exact-time absolute-motion descriptors | 1,337/3,500, SR 38.20%, MS 53.16 |
+
+“w/o motion” refers specifically to removing the explicit numeric
+absolute-motion/kinematic descriptor branch. It does **not** mean that optical
+flow is removed: the variant still consumes history Flow RGB.
+
+The reported numbers are the archived 35-task × 100-episode DOMINO Level 1
+system results. They are not a newly rerun benchmark and should not be
+interpreted as a matched one-variable causal estimate beyond the named model
+variants.
+
+## Repository layout
+
+```text
+checkpoints/
+├── dynamicwam_wo_motion/
+│   ├── model.pt
+│   └── action_stats.json
+└── dynamicwam/
+    ├── model.pt
+    └── action_stats.json
+configs/
+├── dynamicwam_wo_motion/
+│   ├── stage1_video.yaml
+│   ├── stage2_action.yaml
+│   ├── stage3_joint.yaml
+│   └── deploy.yaml
+└── dynamicwam/
+    └── absolute_motion_v2.yaml
+MODEL_MANIFEST.json
+SHA256SUMS
+```
+
+The `dynamicwam_wo_motion` YAML files are exact historical configuration
+snapshots and therefore retain their original cluster paths. Remap those paths
+to your local checkout and downloaded assets before training or evaluation.
+
+## Download
+
+```bash
+hf download KhalilGao/DynamicWAM \
+  --include "checkpoints/dynamicwam_wo_motion/*" \
+  --include "configs/dynamicwam_wo_motion/*" \
+  --local-dir external/DynamicWAM
+```
+
+The matching packed training corpus is published at
+[`KhalilGao/DynamicWAM-data`](https://huggingface.co/datasets/KhalilGao/DynamicWAM-data)
+under `dynamicwam_wo_motion/`.
+
+## Checkpoint identity
+
+| Variant | Global step | Size (bytes) | SHA-256 |
+|---|---:|---:|---|
+| DynamicWAM (w/o motion) | 40,000 | 1,976,638,827 | `fa88a1f33f2205db5a4534e09bb02d1bee9dea7b2049299ac68932a34de82f03` |
+| DynamicWAM | 40,000 | 1,977,857,939 | `7c0dfc44a785ea1f6bd1f833f09dcadc2e470dadb1ba5508fa98918e147671d7` |
+
+Both are native PyTorch checkpoint dictionaries. As with any pickle-backed
+PyTorch artifact, load them only from a trusted revision and verify the hashes
+in `SHA256SUMS` first.
+
+## External assets
+
+The checkpoints do not bundle Wan2.2-TI2V-5B, its tokenizer/VAE, the DOMINO
+runtime, CuRobo, or simulator assets. See the
+[`DynamicWAM` source repository](https://github.com/Autumn1337/DynamicWAM)
+for environment and evaluation setup.
+
+## License
+
+Project-owned release material is provided under Apache-2.0. Upstream assets
+retain their own licenses; this repository does not relicense or redistribute
+the external runtime dependencies listed above.

SHA256SUMS

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+bc62c80cf26f0525af87853e276990ce6bad07a98fdbd4422e070871fc53aef2  ./.gitattributes
+c71d239df91726fc519c6eb72d318ec65820627232b2f796219e87dcf35d0ab4  ./LICENSE
+ec85c42b04a8029b79e9205bc355c903f8e0275b8261b1884f6ad45a3480ce3d  ./MODEL_MANIFEST.json
+5682a048d98eecb47525779573431c2648a0aae2e8d70ad608c9109db86cd284  ./README.md
+730a91e41b6a23c70cec49cd222835373ba9364680da5753f4408c5534319b04  ./checkpoints/dynamicwam/action_stats.json
+7c0dfc44a785ea1f6bd1f833f09dcadc2e470dadb1ba5508fa98918e147671d7  ./checkpoints/dynamicwam/model.pt
+730a91e41b6a23c70cec49cd222835373ba9364680da5753f4408c5534319b04  ./checkpoints/dynamicwam_wo_motion/action_stats.json
+fa88a1f33f2205db5a4534e09bb02d1bee9dea7b2049299ac68932a34de82f03  ./checkpoints/dynamicwam_wo_motion/model.pt
+4dc38bc1aced3cb0ec40a90163ffa59bf26865419ddaeb26ae63bfa8ab3a55be  ./configs/dynamicwam/absolute_motion_v2.yaml
+f33d734d83fdfdc93501f588292fa265d1df7024aaf6d671b128065b72d30b8c  ./configs/dynamicwam_wo_motion/deploy.yaml
+d9bc45ecafe201b868039b580c2449121a2d8d269c41d986c88b96fc1a41d230  ./configs/dynamicwam_wo_motion/stage1_video.yaml
+3842d0c6519a771ddd774084c7edafb28a8092575709595d33613aba71907d0f  ./configs/dynamicwam_wo_motion/stage2_action.yaml
+977abdbf2c10ca5fe387e4c4501f2d57426a816be06f391d94cdbece27c4771f  ./configs/dynamicwam_wo_motion/stage3_joint.yaml

checkpoints/dynamicwam/action_stats.json

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+{
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+    "num_workers": 8,
+    "processing_time_seconds": 5.688045024871826,
+    "qpos_dim": 14,
+    "splits": [
+      "clean",
+      "randomized"
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+    "std": [
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+      1.0038063526153564,
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+      0.6549587845802307,
+      0.4463484585285187
+    ],
+    "total_frames": 4704574,
+    "type": "mean_std"
+  }
+}

checkpoints/dynamicwam/model.pt

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+oid sha256:7c0dfc44a785ea1f6bd1f833f09dcadc2e470dadb1ba5508fa98918e147671d7
+size 1977857939

checkpoints/dynamicwam_wo_motion/action_stats.json

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+{
+  "robotwin_qpos": {
+    "error_count": 0,
+    "file_count": 26019,
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+      0.31058570742607117,
+      0.6451691389083862,
+      0.45138606429100037,
+      0.29085657000541687,
+      1.022655963897705,
+      0.8035516142845154,
+      0.7121128439903259,
+      0.25685587525367737,
+      0.6549587845802307,
+      0.4463484585285187
+    ],
+    "total_frames": 4704574,
+    "type": "mean_std"
+  }
+}

checkpoints/dynamicwam_wo_motion/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa88a1f33f2205db5a4534e09bb02d1bee9dea7b2049299ac68932a34de82f03
+size 1976638827

configs/dynamicwam/absolute_motion_v2.yaml

@@ -0,0 +1,267 @@
+# DynamicWAM quality-filtered exact-time absolute-motion production profile.
+# Every executable derives its resolved settings from this file and snapshots
+# both the source bytes and resolved configuration into its run directory.
+schema_version: 2
+baseline: absolute_motion_v2
+
+paths:
+  project_root: ..
+  raw_dataset: data/raw
+  source_dataset: data/converted/domino_exact_time
+  packed_dataset: data/packed/domino_absolute_motion_v2
+  head_flow_cache: data/flow_cache/domino_absolute_motion_v2
+  language_embeddings: data/language_embeddings
+  wan_root: external/Wan2.2-TI2V-5B
+  external_assets_manifest: manifests/external_assets.json
+  checkpoint_manifest: manifests/checkpoints.json
+  training_runs: outputs/training
+  collection_logs: outputs/collection
+  pca_artifacts: outputs/stage1_pca
+  stage1_checkpoint: outputs/training/absolute_motion_stage1_video/exports/stage1_step_80000.pt
+  base_checkpoint: external/checkpoints/DynamicWAM_wo_motion.pt
+  base_action_stats: external/checkpoints/DynamicWAM_wo_motion_action_stats.json
+  motion_init_checkpoint: outputs/checkpoint_init/absolute_motion_init.pt
+  stage2_checkpoint: outputs/training/absolute_motion_stage2_action/exports/stage2_step_80000.pt
+  stage3_checkpoint: external/checkpoints/DynamicWAM_full.pt
+  action_stats: external/checkpoints/DynamicWAM_full_action_stats.json
+  evaluation_runs: outputs/evaluation
+
+method:
+  flow_matching:
+    shift: 5.0
+    sigma_min: 0.0
+    extra_one_step: true
+    training_timesteps: 1000
+  observation:
+    head_size: [240, 320]
+    wrist_size: [120, 160]
+  video:
+    num_frames: 8
+    size: [384, 320]
+    future_size: [192, 160]
+    global_downsample_rate: 3
+    video_action_frequency_ratio: 2
+  head_flow:
+    count: 4
+    policy_stride: 4
+    compute_size: [64, 64]
+    container_fps: 30.0
+    normalization_percentile: 99.0
+    farneback:
+      pyr_scale: 0.5
+      levels: 3
+      winsize: 15
+      iterations: 3
+      poly_n: 5
+      poly_sigma: 1.2
+      flags: 0
+    quality:
+      method: forward_backward_consistency_v1
+      relative_error: 0.01
+      absolute_error_squared: 0.5
+      minimum_reliable_fraction: 0.1
+  compact_wan:
+    precision: bfloat16
+    dim: 2048
+    ffn_dim: 8192
+    num_heads: 16
+    num_layers: 12
+    head_dim: 128
+    hidden_anchor_layers: [1, 3, 5, 7, 9, 12]
+    motion_anchor_layers: [6, 8, 10, 12]
+    teacher_layer_mapping: [1, 2, 4, 6, 8, 11, 14, 17, 20, 23, 26, 30]
+  action_expert:
+    dim: 768
+    ffn_dim: 3072
+    num_layers: 12
+    chunk_size: 16
+    state_dim: 14
+    action_dim: 14
+  normalization_epsilon: 1.0e-6
+
+collection:
+  domino_commit: 9b1f34129323957baff35bcbc866fceca7e02779
+  clean_config_name: absolute_motion_clean
+  randomized_config_name: absolute_motion_randomized
+  clean_episodes_per_task: 150
+  randomized_episodes_per_task: 150
+  workers_per_gpu: 2
+  planner_workers_per_task: 2
+  renderer_workers_per_task: 1
+  renderer_recycle_attempts: 16
+  ready_buffer_episodes: 8
+  worker_poll_seconds: 0.25
+  collection_raw_mp4: false
+  converter_workers: 96
+  motion_statistics_workers: 64
+
+initialization:
+  base_checkpoint_sha256: fa88a1f33f2205db5a4534e09bb02d1bee9dea7b2049299ac68932a34de82f03
+  base_action_stats_sha256: 730a91e41b6a23c70cec49cd222835373ba9364680da5753f4408c5534319b04
+  torch_seed: 20260718
+
+data:
+  splits: [clean, randomized]
+  samples_per_episode: 10
+  sampler_seed: 2026
+  language_prompts_per_task: 100
+  language_prompt_seed: 2026
+  max_open_shards: 16
+
+packing:
+  shard_size: 10000
+  language_items_per_shard: 64
+  max_open_shards: 8
+  device: cuda
+  batch_size: 64
+  num_workers: 8
+  pin_memory: true
+  persistent_workers: true
+  prefetch_factor: 2
+  qpos_cache_size: 8
+  progress_interval_seconds: 2
+  log_level: INFO
+  distributed_timeout_minutes: 240
+
+training:
+  common:
+    device: cuda
+    log_level: INFO
+    per_device_batch_size: 16
+    gradient_accumulation_steps: 1
+    weight_decay: 1.0e-3
+    grad_clip_norm: 1.0
+    num_workers: 4
+    pin_memory: true
+    persistent_workers: true
+    prefetch_factor: 2
+    log_interval: 10
+    checkpoint_interval: 40000
+    checkpoint_total_limit: 10
+    resume_from: ""
+  distributed:
+    zero_stage: 0
+    bf16: true
+    steps_per_print: 2000
+  stage1_pca:
+    episodes: 1000
+    subclips_per_episode: 4
+    states_per_subclip: 2
+    max_tokens_per_layer: 200000
+    seed: 2026
+  stage1:
+    allow_tf32: true
+    cudnn_benchmark: true
+    max_steps: 80000
+    learning_rate: 5.0e-5
+    min_lr_ratio: 0.001
+    warmup_steps: 1000
+    projection_dim: 256
+    hidden_teacher_layers: [1, 4, 8, 14, 20, 30]
+    motion_teacher_layers: [11, 17, 23, 30]
+    lambda_gt: 1.0
+    lambda_hidden_schedule: [0.2, 0.1, 0.0]
+    lambda_motion_schedule: [0.2, 0.1, 0.0]
+    schedule_boundaries: [0.35, 0.75, 1.0]
+    timestep_sampler:
+      uniform_weight: 0.25
+      low_center: 0.25
+      low_weight: 1.0
+      mid_center: 0.50
+      mid_weight: 1.25
+      high_center: 0.75
+      high_weight: 0.75
+      width: 0.22
+    sigma_loss_weights:
+      gt:
+        max_sigma: 0.75
+        softness: 0.12
+        floor: 0.25
+      hidden:
+        center: 0.50
+        width: 0.25
+        floor: 0.20
+      motion:
+        center: 0.50
+        width: 0.30
+        floor: 0.20
+  stage2:
+    max_steps: 80000
+    learning_rate: 5.0e-5
+    min_lr_ratio: 1.0e-5
+    warmup_steps: 0
+    action_weight: 1.0
+  stage3:
+    max_steps: 40000
+    action_learning_rate: 5.0e-5
+    video_learning_rate: 1.0e-5
+    min_lr_ratio: 1.0e-5
+    warmup_steps: 0
+    action_weight: 1.0
+    video_weight_initial: 0.01
+    video_weight: 0.001
+    video_weight_anneal_steps: 2000
+
+inference:
+  device: cuda
+  checkpoint_artifact_id: full
+  num_inference_steps: 10
+  video_refresh_steps: [0, 1]
+  action_interval_ms: 100
+  scene_prefix: "The whole scene is in a realistic, industrial art style with three views: a fixed rear camera, a movable left arm camera, and a movable right arm camera. The aloha robot is currently performing the following task: "
+
+benchmark:
+  policy_registration_name: ciwam.adapters.domino.deploy_policy_sync_flow
+  task_config: demo_clean_dynamic
+  instruction_type: unseen
+  checkpoint_label: absolute-motion-v2-stage3-40k-sync-native-exec16-level1
+  dynamic_coefficient: 0.1
+  episodes_per_task: 100
+  start_seed: 100000
+  slot_seed_stride: 100000
+  execute_steps: 16
+  gpus: ["0", "1", "2", "3", "4", "5", "6", "7"]
+  task_timeout_seconds: 86400
+  bootstrap_replicates: 2000
+  bootstrap_seed: 20260714
+  python: external/robotwin/bin/python3.10
+  domino_root: external/DOMINO
+  eval_policy: external/DOMINO/script/eval_policy.py
+  curobo_root: external/curobo/src
+  curobo_extension_sha256: 477ce47d82ac8bf7204d3c542f8a818be3ee4fcd0d18cdae7ec57d17aa920b81
+  tasks:
+    - adjust_bottle
+    - dump_bin_bigbin
+    - grab_roller
+    - handover_block
+    - handover_mic
+    - hanging_mug
+    - move_can_pot
+    - move_playingcard_away
+    - place_a2b_left
+    - place_a2b_right
+    - place_bread_skillet
+    - place_can_basket
+    - place_object_basket
+    - put_bottles_dustbin
+    - put_object_cabinet
+    - rotate_qrcode
+    - scan_object
+    - shake_bottle
+    - shake_bottle_horizontally
+    - beat_block_hammer
+    - click_alarmclock
+    - click_bell
+    - move_pillbottle_pad
+    - move_stapler_pad
+    - place_bread_basket
+    - place_container_plate
+    - place_empty_cup
+    - place_fan
+    - place_mouse_pad
+    - place_object_scale
+    - place_object_stand
+    - place_phone_stand
+    - place_shoe
+    - press_stapler
+    - stamp_seal

configs/dynamicwam_wo_motion/deploy.yaml

@@ -0,0 +1,56 @@
+robotwin_root: /data/wam-project/DOMINO
+conda_env: /data/wam-project/envs/RoboTwin
+wan_path: /data/wam-project/weights/Wan2.2-TI2V-5B
+
+policy_name: EfficientWAM
+task_name: adjust_bottle
+task_config: demo_clean
+ckpt_setting: /data/wam-project/experiments/head_flow_official_3stage_80k_v1/runs/stage3_flow_joint/exports/stage3_step_40000.pt
+seed: 42
+instruction_type: unseen
+episode_num: 1
+multi_episode_num: 8
+tasks_file: tasks_all.txt
+gpu_ids: [0]
+
+common:
+  num_video_frames: 8
+  video_height: 384
+  video_width: 320
+
+action_normalization:
+  enabled: true
+  type: mean_std
+  stats_path: /data/wam-project/datasets/packed/DOMINO_flow_head/action_stats.json
+
+model:
+  compact_wan:
+    precision: bfloat16
+    dim: 2048
+    ffn_dim: 8192
+    num_heads: 16
+    num_layers: 12
+    head_dim: 128
+    future_video_size: [192, 160]
+  action_expert:
+    dim: 768
+    ffn_dim: 3072
+    num_layers: 12
+    chunk_size: 16
+    state_dim: 14
+    action_dim: 14
+
+inference:
+  num_inference_steps: 10
+  video_refresh_steps: [0, 1]
+  video_stop_cosine_threshold: null
+  action_skip_cosine_threshold: null
+  teacache:
+    enabled: false
+    delta: 0.2
+    poly_coefficients: null
+    sync_distributed: false
+    force_last_step: false
+    action_enabled: true
+    action_delta: null
+    action_force_last_step: false

configs/dynamicwam_wo_motion/stage1_video.yaml

@@ -0,0 +1,102 @@
+system: stage1_video_distill
+name: stage1_flow_video
+max_steps: 80000
+per_device_batch_size: 16
+gradient_accumulation_steps: 1
+learning_rate: 5.0e-5
+weight_decay: 1.0e-3
+scheduler_type: cosine
+min_lr_ratio: 0.001
+warmup_steps: 1000
+num_workers: 4
+pin_memory: true
+persistent_workers: true
+prefetch_factor: 2
+checkpoint_dir: /data/wam-project/experiments/head_flow_official_3stage_80k_v1/runs
+log_interval: 10
+checkpoint_interval: 40000
+checkpoint_total_limit: 10
+report_to: tensorboard
+resume_from: ""
+
+performance:
+  reuse_condition_latent_from_clean: true
+  verify_condition_latent_reuse: false
+
+dataset:
+  type: efficient_wam_train
+  root: /data/wam-project/datasets/packed/DOMINO_flow_head
+  sampling:
+    mode: per_episode_random
+    samples_per_episode: 10
+    seed: 2026
+  language_policy: deterministic
+  max_open_shards: 16
+  include_metadata: false
+  validate_runtime: false
+
+teacher:
+  mode: distill
+  checkpoint_path: /data/wam-project/weights/Wan2.2-TI2V-5B
+  config_path: /data/wam-project/weights/Wan2.2-TI2V-5B
+  vae_path: /data/wam-project/weights/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
+  load_vae: false
+  precision: bfloat16
+  pca_stats_path: /data/wam-project/experiments/head_flow_official_3stage_80k_v1/artifacts/stage1_pca/pca_stats.pt
+
+student:
+  init_mode: sliced
+  checkpoint_path: /data/wam-project/weights/Wan2.2-TI2V-5B
+  config_path: /data/wam-project/weights/Wan2.2-TI2V-5B
+  vae_path: /data/wam-project/weights/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
+  precision: bfloat16
+  dim: 2048
+  ffn_dim: 8192
+  num_heads: 16
+  num_layers: 12
+  head_dim: 128
+  future_video_size: [192, 160]
+  hidden_anchor_layers: [1, 3, 5, 7, 9, 12]
+  motion_anchor_layers: [6, 8, 10, 12]
+  teacher_layer_mapping: [1, 2, 4, 6, 8, 11, 14, 17, 20, 23, 26, 30]
+
+distill:
+  projection_dim: 256
+  hidden_teacher_layers: [1, 4, 8, 14, 20, 30]
+  motion_teacher_layers: [11, 17, 23, 30]
+  lambda_gt: 1.0
+  lambda_hidden_schedule: [0.2, 0.1, 0.0]
+  lambda_motion_schedule: [0.2, 0.1, 0.0]
+  lambda_velocity_schedule: [0.0, 0.0, 0.0]
+  schedule_boundaries: [0.35, 0.75, 1.0]
+  timestep_sampler:
+    type: sigma_aware
+    uniform_weight: 0.25
+    low_center: 0.25
+    low_weight: 1.0
+    mid_center: 0.50
+    mid_weight: 1.25
+    high_center: 0.75
+    high_weight: 0.75
+    width: 0.22
+  sigma_loss_weights:
+    gt:
+      mode: low_mid
+      max_sigma: 0.75
+      softness: 0.12
+      floor: 0.25
+    hidden:
+      mode: mid
+      center: 0.50
+      width: 0.25
+      floor: 0.20
+    motion:
+      mode: mid
+      center: 0.50
+      width: 0.30
+      floor: 0.20
+    velocity:
+      mode: mid_high
+      min_sigma: 0.25
+      softness: 0.12
+      floor: 0.20

configs/dynamicwam_wo_motion/stage2_action.yaml

@@ -0,0 +1,66 @@
+system: stage2_action
+training_stage: stage2
+name: stage2_flow_action
+max_steps: 80000
+per_device_batch_size: 16
+gradient_accumulation_steps: 1
+learning_rate: 5.0e-5
+weight_decay: 1.0e-3
+scheduler_type: cosine
+min_lr_ratio: 0.00001
+warmup_steps: 0
+num_workers: 4
+pin_memory: true
+persistent_workers: true
+prefetch_factor: 2
+checkpoint_dir: /data/wam-project/experiments/head_flow_official_3stage_80k_v1/runs
+log_interval: 10
+checkpoint_interval: 40000
+checkpoint_total_limit: 10
+report_to: tensorboard
+resume_from: ""
+
+performance:
+  reuse_condition_latent_from_clean: true
+  verify_condition_latent_reuse: false
+
+dataset:
+  type: efficient_wam_train
+  root: /data/wam-project/datasets/packed/DOMINO_flow_head
+  sampling:
+    mode: per_episode_random
+    samples_per_episode: 10
+    seed: 2026
+  language_policy: deterministic
+  max_open_shards: 16
+  include_metadata: false
+  validate_runtime: false
+
+model:
+  compact_wan_checkpoint: /data/wam-project/experiments/head_flow_official_3stage_80k_v1/runs/stage1_flow_video/exports/stage1_step_80000.pt
+  compact_wan:
+    checkpoint_path: /data/wam-project/weights/Wan2.2-TI2V-5B
+    config_path: /data/wam-project/weights/Wan2.2-TI2V-5B
+    vae_path: /data/wam-project/weights/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
+    precision: bfloat16
+    dim: 2048
+    ffn_dim: 8192
+    num_heads: 16
+    num_layers: 12
+    head_dim: 128
+    future_video_size: [192, 160]
+  action_expert:
+    dim: 768
+    ffn_dim: 3072
+    num_layers: 12
+    chunk_size: 16
+    state_dim: 14
+    action_dim: 14
+  wan_frozen: true
+
+loss:
+  type: action_flow_matching
+  predict_video: false
+  action_weight: 1.0
+  video_weight: 0.0
+  video_weight_anneal_steps: 0

configs/dynamicwam_wo_motion/stage3_joint.yaml

@@ -0,0 +1,70 @@
+system: stage3_joint
+training_stage: stage3
+name: stage3_flow_joint
+max_steps: 80000
+per_device_batch_size: 16
+gradient_accumulation_steps: 1
+action_learning_rate: 5.0e-5
+video_learning_rate: 1.0e-5
+weight_decay: 1.0e-3
+scheduler_type: cosine
+min_lr_ratio: 0.00001
+warmup_steps: 0
+num_workers: 4
+pin_memory: true
+persistent_workers: true
+prefetch_factor: 2
+checkpoint_dir: /data/wam-project/experiments/head_flow_official_3stage_80k_v1/runs
+log_interval: 10
+checkpoint_interval: 40000
+checkpoint_total_limit: 10
+report_to: tensorboard
+resume_from: ""
+
+performance:
+  reuse_condition_latent_from_clean: true
+  verify_condition_latent_reuse: false
+
+dataset:
+  type: efficient_wam_train
+  root: /data/wam-project/datasets/packed/DOMINO_flow_head
+  sampling:
+    mode: per_episode_random
+    samples_per_episode: 10
+    seed: 2026
+  language_policy: deterministic
+  max_open_shards: 16
+  include_metadata: false
+  validate_runtime: false
+
+model:
+  compact_wan_checkpoint: /data/wam-project/experiments/head_flow_official_3stage_80k_v1/runs/stage1_flow_video/exports/stage1_step_80000.pt
+  action_init_checkpoint: /data/wam-project/experiments/head_flow_official_3stage_80k_v1/runs/stage2_flow_action/exports/stage2_step_80000.pt
+  compact_wan:
+    checkpoint_path: /data/wam-project/weights/Wan2.2-TI2V-5B
+    config_path: /data/wam-project/weights/Wan2.2-TI2V-5B
+    vae_path: /data/wam-project/weights/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
+    precision: bfloat16
+    dim: 2048
+    ffn_dim: 8192
+    num_heads: 16
+    num_layers: 12
+    head_dim: 128
+    future_video_size: [192, 160]
+  action_expert:
+    dim: 768
+    ffn_dim: 3072
+    num_layers: 12
+    chunk_size: 16
+    state_dim: 14
+    action_dim: 14
+  wan_frozen: false
+
+loss:
+  type: mot_joint_flow_matching
+  predict_video: true
+  action_weight: 1.0
+  video_weight_initial: 0.01
+  video_weight: 0.001
+  video_weight_anneal_steps: 2000
+  video_weight_anneal_type: linear