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12.4 kB
| { | |
| "schema_version": 1, | |
| "values": { | |
| "model.model_id": "Wan-AI/Wan2.2-TI2V-5B", | |
| "model.tokenizer_model_id": "Wan-AI/Wan2.2-TI2V-5B", | |
| "model.tokenizer_max_len": 128, | |
| "model.redirect_common_files": true, | |
| "model.arch": "rgb_dep_sem", | |
| "model.action_conditioning": "predicted_depth_head_semantic", | |
| "model.attention_layout": "rgb_auxiliary_causal", | |
| "model.depth_projection": "independent", | |
| "model.semantic_projection": "independent", | |
| "model.input_paradigm": "t_concat", | |
| "model.view_layout": "robotwin_t", | |
| "model.proprio_dim": 14, | |
| "model.video_dit_config": { | |
| "in_dim": 48, | |
| "out_dim": 48, | |
| "text_dim": 4096, | |
| "freq_dim": 256, | |
| "patch_size": [ | |
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| 2, | |
| 2 | |
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| "num_layers": 30, | |
| "has_image_input": false, | |
| "has_image_pos_emb": false, | |
| "has_ref_conv": false, | |
| "add_control_adapter": false, | |
| "in_dim_control_adapter": 24, | |
| "seperated_timestep": true, | |
| "require_vae_embedding": false, | |
| "require_clip_embedding": false, | |
| "fuse_vae_embedding_in_latents": true, | |
| "action_conditioned": false, | |
| "action_dim": 14, | |
| "action_group_causal_mask_mode": "group_diagonal", | |
| "video_attention_mask_mode": "first_frame_causal", | |
| "moe": { | |
| "enabled": true, | |
| "routing": "per_sample", | |
| "num_experts": 4, | |
| "top_k": 0, | |
| "use_shared_expert": true, | |
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| 24, | |
| 27 | |
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| "router_cond": "modality", | |
| "token_modality_bias": true, | |
| "token_dispatch": "dense_masked", | |
| "loss_lambda_aux": 0.01, | |
| "loss_lambda_entropy": 0.0, | |
| "aux_warmup_steps": 1611, | |
| "aux_warmup_ratio": 0.05, | |
| "aux_warmup_unit": "optimizer_step", | |
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| "frame": "first", | |
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| "lambda_depth": 1.0 | |
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| "type": "svae", | |
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| "output_normalization": "layernorm", | |
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| "input_dim": 768, | |
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| "num_layers": 3, | |
| "intermediate_size": 2048, | |
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| "schema_version": 1, | |
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| "feature_space": "semwam_dino_normalized_patch_features_post_temporal_pool" | |
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| "model.semantic.temporal_pool": "mean", | |
| "model.semantic.parametrization": "v_pred", | |
| "model.semantic.velocity_loss_form": "direct_error", | |
| "model.semantic.loss_diagnostics": true, | |
| "model.semantic.loss_lambda_semantic": 1.0, | |
| "model.depth.condition_source": "dataset", | |
| "model.depth.target_source": "dataset", | |
| "model.depth.condition_temporal_context": "current_frame", | |
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| "max_depth_m": 2.0 | |
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| "model.depth.temporal_pool": "mean", | |
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| "model.depth.defm.backbone": "defm_vit_s14", | |
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| "data.train.num_frames": 33, | |
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| "data.normalization_statistics_sha256": "82b5328e093511ec35dd52ba17a622d5357fa385903c49dd0a544fceb7b5e243", | |
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| "data.train.processor.num_obs_steps": 33, | |
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| "data.train.processor.use_stepwise_action_norm": false, | |
| "data.train.processor.norm_default_mode": "z-score", | |
| "data.train.processor.action_state_merger": { | |
| "_target_": "wam.datasets.lerobot.transforms.action_state_merger.ConcatLeftAlign" | |
| }, | |
| "data.train.processor.train_transforms": [ | |
| { | |
| "_target_": "wam.datasets.lerobot.transforms.image.ToTensor" | |
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| { | |
| "_target_": "torchvision.transforms.Resize", | |
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| "data.train.processor.val_transforms": [ | |
| { | |
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| { | |
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| ], | |
| "model.model_family": "wam", | |
| "model.depth.fusion_layers": null | |
| } | |
| } | |