| model: |
| _target_: prismwam.models.wan22.rgb_depth_action_depth_parent.create_prismwam_rgb_depth_action |
| model_id: Wan-AI/Wan2.2-TI2V-5B |
| tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B |
| tokenizer_max_len: 128 |
| load_text_encoder: false |
| redirect_common_files: true |
| architecture_name: PrismWAM |
| rgb_input_size: |
| - 384 |
| - 320 |
| rgb_target_mode: f8 |
| rgb_depth_attention_mode: rgb_to_depth_to_action |
| rgb_fast: true |
| rgb_history_num_frames: 5 |
| rgb_history_frame_stride: 4 |
| share_rgb_depth_blocks: true |
| video_use_text_embedding: true |
| proprio_dim: 14 |
| mot_checkpoint_mixed_attn: true |
| skip_depth_dit_load_from_pretrain: true |
| skip_rgb_dit_load_from_pretrain: true |
| skip_action_dit_load_from_pretrain: true |
| checkpoint_init_only: true |
| depth_vae_require_latent_stats: true |
| depth_dit_checkpoint_path: null |
| depth_vae_checkpoint_path: depth_vae.pt |
| rgb_vae_checkpoint_path: rgb_vae.safetensors |
| action_dit_pretrained_path: null |
| depth_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: 1.0e-06 |
| seperated_timestep: true |
| require_vae_embedding: false |
| fuse_vae_embedding_in_latents: true |
| use_gradient_checkpointing: true |
| video_attention_mask_mode: first_frame_causal |
| rgb_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: 1.0e-06 |
| seperated_timestep: true |
| require_vae_embedding: false |
| fuse_vae_embedding_in_latents: true |
| use_gradient_checkpointing: true |
| video_attention_mask_mode: first_frame_causal |
| action_dit_config: |
| action_dim: 14 |
| hidden_dim: 1024 |
| ffn_dim: 4096 |
| num_heads: 24 |
| attn_head_dim: 128 |
| num_layers: 30 |
| text_dim: 4096 |
| freq_dim: 256 |
| eps: 1.0e-06 |
| use_gradient_checkpointing: true |
| rgb_scheduler: |
| train_shift: 5.0 |
| infer_shift: 5.0 |
| num_train_timesteps: 1000 |
| depth_scheduler: |
| train_shift: 5.0 |
| infer_shift: 5.0 |
| num_train_timesteps: 1000 |
| action_scheduler: |
| train_shift: 5.0 |
| infer_shift: 5.0 |
| num_train_timesteps: 1000 |
| loss: |
| lambda_rgb: 1.0 |
| lambda_depth: 1.0 |
| lambda_action: 1.0 |
| depth_parent_expected_step: 15000 |
| action_init_source: wan |
| lr_schedule_steps: 15000 |
| data: |
| train: |
| video_size: |
| - 384 |
| - 320 |
| num_video_frames: 9 |
| frame_stride: 4 |
| rgb_history_num_frames: 5 |
| rgb_history_frame_stride: 4 |
| cameras: |
| - head_camera |
| - left_camera |
| - right_camera |
| layout: robotwin |
| depth_min: 0.0 |
| depth_max: 1500.0 |
| action_horizon: 32 |
| action_dim: 14 |
| action_start_offset: 1 |
| proprio_start_offset: 0 |
| context_len: 128 |
| text_encoder_id: wan22ti2v5b |
| prompt_template: 'A video recorded from a robot''s point of view executing the |
| following instruction: {task}' |
| task_names: null |
| rgb_target_mode: f8 |
| deployment: |
| action_horizon: 32 |
| replan_steps: 24 |
| num_inference_steps: 10 |
| inference_shifts: |
| depth: 5.0 |
| action: 5.0 |
| benchmark: robotwin |
| portable_bundle: true |
| statistics_path: action_stats.pt |
|
|
