ResWAM-RoboTwin2 / resolved_config.json
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{
"action": {
"dimension": 14,
"execute_horizon": 16,
"horizon": 32,
"padding": "end_of_episode_clamp_to_last_frame_supervised",
"representation": "14-D absolute joint/qpos"
},
"benchmark": "robotwin2",
"data": {
"camera_order": [
"head",
"left_wrist",
"right_wrist"
],
"codec": {
"decode_clip": false,
"encode_clamp_sigma": 12.0,
"grippers": "2x-1",
"joints": "zscore_mean_std_all_clean_frames",
"statistics": "codec_statistics.json",
"version": "reswam-robotwin-absolute-qpos-zscore-joints-affine-grippers-14d-v1"
},
"metadata_frequency_hz": 50,
"preprocess_to_256": "direct_bicubic_antialias_no_crop",
"vlm_camera_order": [
"head",
"left_wrist",
"right_wrist"
]
},
"dataset": {
"action_dimension": 14,
"action_representation": "14-D absolute joint/qpos",
"camera_order": [
"head",
"left_wrist",
"right_wrist"
],
"cleaned_episodes": 26617,
"cleaning_order": [
"static_cleaner",
"outlier_episode_deletion"
],
"frames": 4933470,
"hf_repo": "yuanty/robotwin2.0-fastwam",
"outlier_limit": "closed [-pi,pi] excluding dimensions 6 and 13",
"sampler": "uniform_concat_every_clean_frame_end_clamped_supervised",
"source_episodes": 27500,
"state_dimension": 14,
"state_representation": "14-D current qpos",
"static_margin": 1,
"static_threshold": 1e-06,
"tasks": 50
},
"evaluation": {
"base_seed": 0,
"bspline_smoothing": {
"degree": 3,
"enabled": true,
"num_ctrl_pts": 8
},
"conditions": [
"clean",
"randomized"
],
"execute_horizon": 16,
"instruction_type": "unseen",
"prediction_horizon": 32,
"tasks": 50,
"total_episodes": 10000,
"trials_per_task": 100
},
"flow": {
"action_noise": "independent_gaussian",
"action_scheduler_shift": 1,
"action_tau": "independent_uniform_shifted",
"inference_rounds": 10,
"synchronous_commit": true,
"world_noise": "independent_gaussian",
"world_scheduler_shift": 5,
"world_tau": "independent_uniform_shifted"
},
"model": {
"dino": {
"architecture": "DINOv3-B/16",
"combine": "arithmetic_mean",
"frozen": true,
"model_id": "facebook/dinov3-vitb16-pretrain-lvd1689m",
"remove_prefix_tokens": true,
"selected_blocks": [
8,
10
],
"spatial_pooling": "2x2",
"target_token_ln": true,
"tokens": 64
},
"expert": {
"depth": 12,
"expert_parameter_count": 493608462,
"ffn_dim": 4096,
"heads": 16,
"hidden_dim": 1024
},
"rynnbrain": {
"backbone_parameter_count": 1755487104,
"repo": "Alibaba-DAMO-Academy/RynnBrain1.1-2B",
"text_hidden_size": 2048,
"text_layers": 16,
"vision_layers": 24
}
},
"optimizer": {
"betas": [
0.9,
0.95
],
"clip_grad_norm": 1.0,
"expert_min_lr": 1e-05,
"expert_peak_lr": 0.0001,
"name": "AdamW",
"precision": "bfloat16",
"vlm_min_lr": 1e-06,
"vlm_peak_lr": 1e-05,
"weight_decay": 1e-08
},
"schema_version": "reswam-robotwin2-config-v1",
"training": {
"fsdp": "FULL_SHARD",
"global_batch": 256,
"gradient_accumulation": 2,
"microbatch": 32,
"seed": 20260907,
"world_size": 4
},
"world": {
"camera": "head",
"loss_weight": 0.1,
"objective": "endpoint_only_extra_LN_delta",
"target_offset": 32
}
}