Download train_config.json from MotionforgeGroup/Fast-WAM-FC-80000: direct link, hf CLI and curl.
- Browser
- Download file 8.7 kB
-
https://huggingface.co/MotionforgeGroup/Fast-WAM-FC-80000/resolve/main/train_config.json
- Command line
-
hf download hf://MotionforgeGroup/Fast-WAM-FC-80000/train_config.json
-
curl -L -o train_config.json https://huggingface.co/MotionforgeGroup/Fast-WAM-FC-80000/resolve/main/train_config.json
8.7 kB
| { | |
| "dataset": { | |
| "repo_id": "local/factory_conveyor_level2_seeded", | |
| "root": "/projects/haitian003ssd/Dataset/factory_conveyor_level2_seeded", | |
| "episodes": null, | |
| "image_transforms": { | |
| "enable": false, | |
| "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": { | |
| "saturation": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "hue": { | |
| "weight": 1.0, | |
| "type": "ColorJitter", | |
| "kwargs": { | |
| "hue": [ | |
| -0.05, | |
| 0.05 | |
| ] | |
| } | |
| }, | |
| "sharpness": { | |
| "weight": 1.0, | |
| "type": "SharpnessJitter", | |
| "kwargs": { | |
| "sharpness": [ | |
| 0.5, | |
| 1.5 | |
| ] | |
| } | |
| }, | |
| "affine": { | |
| "weight": 1.0, | |
| "type": "RandomAffine", | |
| "kwargs": { | |
| "degrees": [ | |
| -5.0, | |
| 5.0 | |
| ], | |
| "translate": [ | |
| 0.05, | |
| 0.05 | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "revision": null, | |
| "use_imagenet_stats": true, | |
| "video_backend": "pyav", | |
| "return_uint8": false, | |
| "depth_output_unit": "mm", | |
| "streaming": false, | |
| "eval_split": 0.0 | |
| }, | |
| "env": null, | |
| "policy": { | |
| "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 | |
| }, | |
| "reward_model": null, | |
| "output_dir": "/projects/haitian003ssd/ICRA2027-baseline/fast-wam/train_outputs/fastwam_resume_80k_132525", | |
| "job_name": "fastwam_factory_conveyor_level2", | |
| "resume": true, | |
| "seed": 1000, | |
| "cudnn_deterministic": false, | |
| "num_workers": 0, | |
| "batch_size": 8, | |
| "prefetch_factor": 4, | |
| "persistent_workers": true, | |
| "steps": 80000, | |
| "env_eval_freq": 20000, | |
| "log_freq": 50, | |
| "eval_steps": 0, | |
| "max_eval_samples": 0, | |
| "tolerance_s": 0.0001, | |
| "save_checkpoint": true, | |
| "save_training_state": false, | |
| "save_freq": 40000, | |
| "use_policy_training_preset": true, | |
| "optimizer": { | |
| "type": "adamw", | |
| "lr": 0.0001, | |
| "weight_decay": 0.01, | |
| "grad_clip_norm": 10.0, | |
| "betas": [ | |
| 0.9, | |
| 0.999 | |
| ], | |
| "eps": 1e-08 | |
| }, | |
| "scheduler": null, | |
| "eval": { | |
| "n_episodes": 50, | |
| "batch_size": 50, | |
| "use_async_envs": true, | |
| "recording": false, | |
| "recording_repo_id": null, | |
| "recording_private": false | |
| }, | |
| "wandb": { | |
| "enable": true, | |
| "disable_artifact": false, | |
| "project": "fastwam", | |
| "entity": null, | |
| "notes": null, | |
| "run_id": "c27a20qd", | |
| "mode": null, | |
| "add_tags": true | |
| }, | |
| "peft": null, | |
| "job": { | |
| "target": null, | |
| "image": "huggingface/lerobot-gpu:latest", | |
| "timeout": "2d", | |
| "detach": false, | |
| "tags": [] | |
| }, | |
| "save_checkpoint_to_hub": false, | |
| "sample_weighting": null, | |
| "rename_map": {}, | |
| "checkpoint_path": "/projects/haitian003ssd/ICRA2027-baseline/fast-wam/train_outputs/fastwam_factory_conveyor_level2_110767/checkpoints/040000" | |
| } |