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Add LIBERO IDM and Joint checkpoints

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Publish step 21,700 weights with matching normalization statistics, reference configs, provenance, and SHA-256 checksums.

Files changed (17) hide show
  1. README.md +1 -1
  2. checkpoint_manifest.json +36 -0
  3. libero/README.md +3 -1
  4. libero/idm/README.md +16 -0
  5. libero/idm/SHA256SUMS +6 -0
  6. libero/idm/config.yaml +58 -0
  7. libero/idm/dataset_stats.json +1938 -0
  8. libero/idm/idm_step021700.pt +3 -0
  9. libero/idm/provenance.json +18 -0
  10. libero/idm/task.yaml +27 -0
  11. libero/joint/README.md +16 -0
  12. libero/joint/SHA256SUMS +6 -0
  13. libero/joint/config.yaml +58 -0
  14. libero/joint/dataset_stats.json +1938 -0
  15. libero/joint/joint_step021700.pt +3 -0
  16. libero/joint/provenance.json +18 -0
  17. libero/joint/task.yaml +27 -0
README.md CHANGED
@@ -27,7 +27,7 @@ Each dataset has one top-level directory. Model variants live inside that direct
27
 
28
  | Dataset | Directory | Models |
29
  | --- | --- | --- |
30
- | LIBERO | [libero](https://huggingface.co/PoopBear/RIFT/tree/main/libero) | RIFT, step 21,700 |
31
  | RoboCOIN, three tasks | [robocoin_multitask_mm](https://huggingface.co/PoopBear/RIFT/tree/main/robocoin_multitask_mm) | RIFT (final), 10 epochs / step 9,340 |
32
  | Galaxea indoor cleaning | [galaxea_indoor_cleaning_3cam224](https://huggingface.co/PoopBear/RIFT/tree/main/galaxea_indoor_cleaning_3cam224) | FastWAM, FastWAM-Joint and RIFT, 10 epochs / step 14,830 |
33
 
 
27
 
28
  | Dataset | Directory | Models |
29
  | --- | --- | --- |
30
+ | LIBERO | [libero](https://huggingface.co/PoopBear/RIFT/tree/main/libero) | RIFT, FastWAM-IDM and FastWAM-Joint, step 21,700 |
31
  | RoboCOIN, three tasks | [robocoin_multitask_mm](https://huggingface.co/PoopBear/RIFT/tree/main/robocoin_multitask_mm) | RIFT (final), 10 epochs / step 9,340 |
32
  | Galaxea indoor cleaning | [galaxea_indoor_cleaning_3cam224](https://huggingface.co/PoopBear/RIFT/tree/main/galaxea_indoor_cleaning_3cam224) | FastWAM, FastWAM-Joint and RIFT, 10 epochs / step 14,830 |
33
 
checkpoint_manifest.json CHANGED
@@ -84,6 +84,42 @@
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  "revision": "dd4f4918189c2b0c4763c7fcf479f6ee48002107",
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  "path": "rift_step021700.pt"
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  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
87
  }
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  ]
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  }
 
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  "revision": "dd4f4918189c2b0c4763c7fcf479f6ee48002107",
85
  "path": "rift_step021700.pt"
86
  }
87
+ },
88
+ {
89
+ "dataset": "libero",
90
+ "variant": "fastwam_idm",
91
+ "checkpoint": "libero/idm/idm_step021700.pt",
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+ "bytes": 12041735545,
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+ "sha256": "aaf7725e96812ef83a4c80473759b63b09034c02ea72aa9da17b52808173474e",
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+ "step": 21700,
95
+ "config": "libero/idm/config.yaml",
96
+ "task_config": "libero/idm/task.yaml",
97
+ "task": "libero_idm_2cam224_1e-4",
98
+ "dataset_stats": "libero/idm/dataset_stats.json",
99
+ "model_target": "fastwam.runtime.create_fastwam_idm",
100
+ "config_kind": "reference model and task configs, not the original resolved training config",
101
+ "source": {
102
+ "run_name": "idm_8gpu_gc_vcache_20260627_201625",
103
+ "checkpoint": "checkpoints/weights/step_021700.pt"
104
+ }
105
+ },
106
+ {
107
+ "dataset": "libero",
108
+ "variant": "fastwam_joint",
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+ "checkpoint": "libero/joint/joint_step021700.pt",
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+ "bytes": 12041735545,
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+ "sha256": "3d111e690023d9ad895da06ca8770dac89d556761c327c1ba155475abea6e9d2",
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+ "step": 21700,
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+ "config": "libero/joint/config.yaml",
114
+ "task_config": "libero/joint/task.yaml",
115
+ "task": "libero_joint_2cam224_1e-4",
116
+ "dataset_stats": "libero/joint/dataset_stats.json",
117
+ "model_target": "fastwam.runtime.create_fastwam_joint",
118
+ "config_kind": "reference model and task configs, not the original resolved training config",
119
+ "source": {
120
+ "run_name": "official_zero2_20260607_212157",
121
+ "checkpoint": "checkpoints/weights/step_021700.pt"
122
+ }
123
  }
124
  ]
125
  }
libero/README.md CHANGED
@@ -3,5 +3,7 @@
3
  | Model | Directory | Step |
4
  | --- | --- | --- |
5
  | RIFT | [rift](rift/) | 21,700 |
 
 
6
 
7
- Each model directory contains its own weights, configuration, normalization statistics, and SHA-256 checksums. Shared pretrained assets remain under `assets/`.
 
3
  | Model | Directory | Step |
4
  | --- | --- | --- |
5
  | RIFT | [rift](rift/) | 21,700 |
6
+ | FastWAM-IDM | [idm](idm/) | 21,700 |
7
+ | FastWAM-Joint | [joint](joint/) | 21,700 |
8
 
9
+ Each directory contains the original weights, matching normalization statistics, reference configs, provenance, and SHA-256 checksums. RIFT's configuration is a model configuration; the IDM and Joint configs are workspace references.
libero/idm/README.md ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # LIBERO FastWAM-IDM
2
+
3
+ Training checkpoint at step **21,700**, from `idm_8gpu_gc_vcache_20260627_201625`.
4
+
5
+ - Weights: `idm_step021700.pt` (12,041,735,545 bytes).
6
+ - Normalization: the matching run's `dataset_stats.json`.
7
+ - FastWAM task: `libero_idm_2cam224_1e-4`.
8
+ - SHA-256: `aaf7725e96812ef83a4c80473759b63b09034c02ea72aa9da17b52808173474e`.
9
+
10
+ `config.yaml` and `task.yaml` are reference configs from the accompanying FastWAM workspace. The original fully resolved training config was not available. Compose these with the FastWAM LIBERO data config and set pretrained asset paths for your installation. Shared Wan assets are available under the repository's `assets/` directory.
11
+
12
+ Use this directory's normalization statistics when evaluating this checkpoint.
13
+
14
+ ```bash
15
+ hf download PoopBear/RIFT --include 'libero/idm/*' --local-dir ./checkpoints
16
+ ```
libero/idm/SHA256SUMS ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ aaf7725e96812ef83a4c80473759b63b09034c02ea72aa9da17b52808173474e idm_step021700.pt
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+ 96fbcecf93ebaae2f2bd4eb70a178a5d179272a0b263635f2a021055b19f17e4 README.md
3
+ e84d8299bf386564aec988afe8218fcebb1435d5fef8074b13fb5dd46afd142c config.yaml
4
+ 4c1ba53d6e11dd1bd07d5c49b36d56173ece22b9b050e225e49e97cbad2d462e dataset_stats.json
5
+ 0e5bc1ea5caa78095b8f0417c8d405fd86af1ad2c715e27ee3413bae2c28dfdf provenance.json
6
+ 5df6cf62843806b0d9d2fb48b873945865bbfa74d135c58032651d54d6992c4e task.yaml
libero/idm/config.yaml ADDED
@@ -0,0 +1,58 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ _target_: fastwam.runtime.create_fastwam_idm
2
+ model_id: Wan-AI/Wan2.2-TI2V-5B
3
+ tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B
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+ tokenizer_max_len: 128
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+ load_text_encoder: false
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+ proprio_dim: ${data.train.processor.proprio_output_dim}
7
+ redirect_common_files: true
8
+ mot_checkpoint_mixed_attn: true
9
+ action_dit_pretrained_path: checkpoints/ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt
10
+ skip_dit_load_from_pretrain: false
11
+
12
+ video_dit_config:
13
+ has_image_input: false
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+ patch_size: [1, 2, 2]
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+ in_dim: 48
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+ hidden_dim: 3072
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+ ffn_dim: 14336
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+ freq_dim: 256
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+ text_dim: 4096
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+ out_dim: 48
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+ num_heads: 24
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+ attn_head_dim: 128
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+ num_layers: 30
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+ eps: 1.0e-06
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+ seperated_timestep: true
26
+ require_clip_embedding: false
27
+ require_vae_embedding: false
28
+ fuse_vae_embedding_in_latents: true
29
+ use_gradient_checkpointing: ${model.mot_checkpoint_mixed_attn}
30
+ video_attention_mask_mode: "first_frame_causal" # default
31
+ action_conditioned: false
32
+ action_dim: ${data.train.processor.action_output_dim}
33
+ action_group_causal_mask_mode: "group_diagonal"
34
+
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+ action_dit_config:
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+ action_dim: ${data.train.processor.action_output_dim}
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+ hidden_dim: 1024
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+ ffn_dim: 4096
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+ num_heads: 24
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+ attn_head_dim: 128
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+ num_layers: 30
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+ text_dim: 4096
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+ freq_dim: 256
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+ eps: 1.0e-06
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+ use_gradient_checkpointing: ${model.mot_checkpoint_mixed_attn}
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+
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+ video_scheduler:
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+ train_shift: 5.0
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+ infer_shift: 5.0
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+ num_train_timesteps: 1000
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+
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+ action_scheduler:
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+ train_shift: 5.0
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+ infer_shift: 5.0
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+ num_train_timesteps: 1000
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+
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+ loss:
58
+ lambda_action: 1.0
libero/idm/dataset_stats.json ADDED
@@ -0,0 +1,1938 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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libero/idm/idm_step021700.pt ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:aaf7725e96812ef83a4c80473759b63b09034c02ea72aa9da17b52808173474e
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+ size 12041735545
libero/idm/provenance.json ADDED
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+ {
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+ "dataset": "libero",
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+ "variant": "fastwam_idm",
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+ "checkpoint": "libero/idm/idm_step021700.pt",
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+ "bytes": 12041735545,
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+ "sha256": "aaf7725e96812ef83a4c80473759b63b09034c02ea72aa9da17b52808173474e",
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+ "step": 21700,
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+ "config": "libero/idm/config.yaml",
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+ "task_config": "libero/idm/task.yaml",
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+ "task": "libero_idm_2cam224_1e-4",
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+ "dataset_stats": "libero/idm/dataset_stats.json",
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+ "model_target": "fastwam.runtime.create_fastwam_idm",
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+ "config_kind": "reference model and task configs, not the original resolved training config",
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+ "source": {
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+ "run_name": "idm_8gpu_gc_vcache_20260627_201625",
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+ "checkpoint": "checkpoints/weights/step_021700.pt"
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+ }
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+ }
libero/idm/task.yaml ADDED
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1
+ # @package _global_
2
+
3
+ defaults:
4
+ - override /data: libero_2cam
5
+ - override /model: fastwam_idm
6
+ - _self_
7
+
8
+ # dataloading
9
+ batch_size: 16
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+ num_workers: 8
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+
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+ model:
13
+ mot_checkpoint_mixed_attn: false
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+
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+ # scheduler
16
+ lr_scheduler_type: "cosine"
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+ learning_rate: 1e-4
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+ num_epochs: 10
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+ max_steps: null
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+ log_every: 10
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+ save_every: 2000
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+ eval_every: 200
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+
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+ # training
25
+ gradient_accumulation_steps: 1
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+ weight_decay: 1e-2
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+ resume: null
libero/joint/README.md ADDED
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1
+ # LIBERO FastWAM-Joint
2
+
3
+ Training checkpoint at step **21,700**, from `official_zero2_20260607_212157`.
4
+
5
+ - Weights: `joint_step021700.pt` (12,041,735,545 bytes).
6
+ - Normalization: the matching run's `dataset_stats.json`.
7
+ - FastWAM task: `libero_joint_2cam224_1e-4`.
8
+ - SHA-256: `3d111e690023d9ad895da06ca8770dac89d556761c327c1ba155475abea6e9d2`.
9
+
10
+ `config.yaml` and `task.yaml` are reference configs from the accompanying FastWAM workspace. The original fully resolved training config was not available. Compose these with the FastWAM LIBERO data config and set pretrained asset paths for your installation. Shared Wan assets are available under the repository's `assets/` directory.
11
+
12
+ Use this directory's normalization statistics when evaluating this checkpoint.
13
+
14
+ ```bash
15
+ hf download PoopBear/RIFT --include 'libero/joint/*' --local-dir ./checkpoints
16
+ ```
libero/joint/SHA256SUMS ADDED
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+ 6cbb0703a6bb40017984b57a99ddc5a008b155f6189e3dc9289e5e6f27ec2424 README.md
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+ 86686a36f3e29f7ec6218c37a84272e3f89b185fb3c17bbd8069a122f9d4e1f9 config.yaml
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libero/joint/config.yaml ADDED
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1
+ _target_: fastwam.runtime.create_fastwam_joint
2
+ model_id: Wan-AI/Wan2.2-TI2V-5B
3
+ tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B
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+ tokenizer_max_len: 128
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+ load_text_encoder: false
6
+ proprio_dim: ${data.train.processor.proprio_output_dim}
7
+ redirect_common_files: true
8
+ mot_checkpoint_mixed_attn: true
9
+ action_dit_pretrained_path: checkpoints/ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt
10
+ skip_dit_load_from_pretrain: false
11
+
12
+ video_dit_config:
13
+ has_image_input: false
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+ patch_size: [1, 2, 2]
15
+ in_dim: 48
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+ hidden_dim: 3072
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+ ffn_dim: 14336
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+ freq_dim: 256
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+ text_dim: 4096
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+ out_dim: 48
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+ num_heads: 24
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+ attn_head_dim: 128
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+ num_layers: 30
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+ eps: 1.0e-06
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+ seperated_timestep: true
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+ require_clip_embedding: false
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+ require_vae_embedding: false
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+ fuse_vae_embedding_in_latents: true
29
+ use_gradient_checkpointing: ${model.mot_checkpoint_mixed_attn}
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+ video_attention_mask_mode: "first_frame_causal" # default
31
+ action_conditioned: false
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+ action_dim: ${data.train.processor.action_output_dim}
33
+ action_group_causal_mask_mode: "group_diagonal"
34
+
35
+ action_dit_config:
36
+ action_dim: ${data.train.processor.action_output_dim}
37
+ hidden_dim: 1024
38
+ ffn_dim: 4096
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libero/joint/joint_step021700.pt ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ size 12041735545
libero/joint/provenance.json ADDED
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+ {
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+ "dataset": "libero",
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+ "variant": "fastwam_joint",
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+ "checkpoint": "libero/joint/joint_step021700.pt",
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+ "bytes": 12041735545,
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+ "config": "libero/joint/config.yaml",
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+ "task_config": "libero/joint/task.yaml",
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+ "task": "libero_joint_2cam224_1e-4",
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+ "dataset_stats": "libero/joint/dataset_stats.json",
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+ "model_target": "fastwam.runtime.create_fastwam_joint",
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+ "config_kind": "reference model and task configs, not the original resolved training config",
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+ "source": {
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+ "run_name": "official_zero2_20260607_212157",
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+ }
libero/joint/task.yaml ADDED
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+ # @package _global_
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+
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+ defaults:
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+ - override /data: libero_2cam
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+ - override /model: fastwam_joint
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+ - _self_
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+
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+ # dataloading
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+ batch_size: 16
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+ num_workers: 8
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+
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+ model:
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+ mot_checkpoint_mixed_attn: false
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+
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+ # scheduler
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+ max_steps: null
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+ log_every: 10
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+ save_every: 2000
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+ eval_every: 200
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+
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+ # training
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+ gradient_accumulation_steps: 1
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+ weight_decay: 1e-2
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+ resume: null