Download config.json from MotionforgeGroup/Fast-WAM-FC-80000: direct link, hf CLI and curl.
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- Download file 3.78 kB
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https://huggingface.co/MotionforgeGroup/Fast-WAM-FC-80000/resolve/main/config.json
- Command line
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hf download hf://MotionforgeGroup/Fast-WAM-FC-80000/config.json
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curl -L -o config.json https://huggingface.co/MotionforgeGroup/Fast-WAM-FC-80000/resolve/main/config.json
3.78 kB
| { | |
| "type": "fastwam", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.images.front": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.images.overview": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 224, | |
| 224 | |
| ] | |
| }, | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 10 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 10 | |
| ] | |
| } | |
| }, | |
| "device": "cuda:0", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": false, | |
| "repo_id": null, | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": "/projects/haitian003ssd/ICRA2027-baseline/fast-wam/train_outputs/fastwam_factory_conveyor_level2_110767/checkpoints/040000/pretrained_model", | |
| "pretrained_revision": null, | |
| "action_dim": 10, | |
| "proprio_dim": 10, | |
| "action_horizon": 32, | |
| "n_action_steps": 10, | |
| "num_video_frames": 33, | |
| "action_video_freq_ratio": 4, | |
| "image_size": [ | |
| 224, | |
| 672 | |
| ], | |
| "context_len": 128, | |
| "model_id": "Wan-AI/Wan2.2-TI2V-5B", | |
| "tokenizer_model_id": "google/umt5-xxl", | |
| "text_encoder_model_id": "Wan-AI/Wan2.2-TI2V-5B-Diffusers", | |
| "base_model_id": "lerobot/fastwam_base", | |
| "tokenizer_max_len": 128, | |
| "load_text_encoder": true, | |
| "mot_checkpoint_mixed_attn": false, | |
| "torch_dtype": "bfloat16", | |
| "prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}", | |
| "num_inference_steps": 10, | |
| "inference_seed": 42, | |
| "rand_device": "cpu", | |
| "text_cfg_scale": 1.0, | |
| "negative_prompt": "", | |
| "sigma_shift": null, | |
| "tiled": false, | |
| "fp32_attention": true, | |
| "use_gradient_checkpointing": true, | |
| "freeze_video_expert": false, | |
| "toggle_action_dimensions": [], | |
| "video_scheduler": { | |
| "train_shift": 5.0, | |
| "infer_shift": 5.0, | |
| "num_train_timesteps": 1000.0 | |
| }, | |
| "action_scheduler": { | |
| "train_shift": 5.0, | |
| "infer_shift": 5.0, | |
| "num_train_timesteps": 1000.0 | |
| }, | |
| "loss": { | |
| "lambda_video": 1.0, | |
| "lambda_action": 1.0 | |
| }, | |
| "video_dit_config": { | |
| "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, | |
| "use_gradient_checkpointing": true, | |
| "video_attention_mask_mode": "first_frame_causal", | |
| "action_conditioned": false, | |
| "action_dim": 10, | |
| "action_group_causal_mask_mode": "group_diagonal", | |
| "fp32_attention": true | |
| }, | |
| "action_dit_config": { | |
| "action_dim": 10, | |
| "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": true, | |
| "fp32_attention": true | |
| }, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_weight_decay": 0.01 | |
| } |