Add 25-epoch training metadata, monitoring videos and codec

.gitattributes

@@ -1980,3 +1980,11 @@ work_dirs/hope_fastwam_official_20260918_152510_1242/eval/step_009000_rank_004.m
 work_dirs/hope_fastwam_official_20260918_152510_1242/eval/step_009500_rank_003.mp4 filter=lfs diff=lfs merge=lfs -text
 work_dirs/hope_fastwam_official_20260918_152510_1242/eval/step_009500_rank_007.mp4 filter=lfs diff=lfs merge=lfs -text
 work_dirs/hope_fastwam_official_20260918_152510_1242/eval/step_013000_rank_003.mp4 filter=lfs diff=lfs merge=lfs -text
+work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/eval/step_000500_rank_006.mp4 filter=lfs diff=lfs merge=lfs -text
+work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/eval/step_006000_rank_004.mp4 filter=lfs diff=lfs merge=lfs -text
+work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/eval/step_007000_rank_000.mp4 filter=lfs diff=lfs merge=lfs -text
+work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/eval/step_008000_rank_001.mp4 filter=lfs diff=lfs merge=lfs -text
+work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/eval/step_008500_rank_006.mp4 filter=lfs diff=lfs merge=lfs -text
+work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/eval/step_009000_rank_004.mp4 filter=lfs diff=lfs merge=lfs -text
+work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/eval/step_009500_rank_003.mp4 filter=lfs diff=lfs merge=lfs -text
+work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/eval/step_009500_rank_007.mp4 filter=lfs diff=lfs merge=lfs -text

work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/codec_dataset_statistics.json

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work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/codec_metadata.json

@@ -0,0 +1,35 @@
+{
+  "action_order": "left_arm[6],left_gripper[1],right_arm[6],right_gripper[1]",
+  "action_semantics": "absolute qpos[t+1] target for observation qpos[t]",
+  "architecture": "tdaa_version3_bin24_robotwin",
+  "codec_sha256": "c958ed5b1f9fe2c7436d2209550cc067fda8c5e727ef167918d06b5b39af6e17",
+  "completed_steps": 160000,
+  "dataset_root": "/mnt/dolphinfs/ssd_pool/docker/user/hadoop-nlp-sh02/hadoop-aipnlp/EVA/buxizhou/Datasets/RoboTwin2.0_legacy/tdaa_clean",
+  "encoder_selection": "online encoder (not EMA target_encoder)",
+  "format_version": 1,
+  "frozen": true,
+  "history_semantics": "executed actions strictly before current prediction; empty history uses learned initial spectrum",
+  "normalization": "(action - action_mean) / action_std; DCT then separate mean/std",
+  "source_checkpoint": "/mnt/dolphinfs/ssd_pool/docker/user/hadoop-nlp-sh02/hadoop-aipnlp/EVA/buxizhou/Benchmark/FastWAM-TDAA/checkpoints/tdaa_robotwin_telon1_160k_source/checkpoints/steps_160000_pytorch_model.pt",
+  "source_checkpoint_sha256": "a0cb151e893b4eead41f7135a1e8b9ad1114b53c60138e98998ae7faca2665fe",
+  "source_code_sha256": {},
+  "source_config_sha256": "99c1eff2a08451bcc3f44508804e6b8960be72ce231f0c3b87a79be1261f278f",
+  "source_repo": "Telon1/xvla-robotwin",
+  "source_revision": "2e3c7df65b829df36fe872173c56c65f0e9f8d73",
+  "source_run_status": "published checkpoint",
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+  "task_embedding_model": "sentence-transformers/all-MiniLM-L6-v2",
+  "task_embedding_prompt": "task name with underscores replaced by spaces",
+  "training_tasks": [
+    "adjust_bottle",
+    "dump_bin_bigbin",
+    "grab_roller",
+    "lift_pot",
+    "move_playingcard_away",
+    "open_laptop",
+    "place_burger_fries",
+    "place_container_plate",
+    "press_stapler",
+    "shake_bottle_horizontally"
+  ]
+}

work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/config.yaml

@@ -0,0 +1,170 @@
+TDAA: true
+frozen: true
+output_dir: /mnt/dolphinfs/ssd_pool/docker/user/hadoop-nlp-sh02/hadoop-aipnlp/EVA/buxizhou/Benchmark/FastWAM-TDAA/work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219
+batch_size: 16
+num_workers: 8
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+num_epochs: 25
+max_steps: null
+log_every: 10
+save_every: 0
+save_steps: null
+save_epochs:
+- 5
+- 10
+- 15
+- 20
+- 25
+eval_every: 500
+eval_num_inference_steps: 10
+gradient_accumulation_steps: 1
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+weight_decay: 0.01
+resume: null
+wandb:
+  enabled: false
+  workspace: null
+  project: fast-wam
+  name: robotwin_tdaa_official_legacy
+  group: null
+  mode: online
+data:
+  train:
+    _target_: fastwam.datasets.tdaa_robotwin.TDAARoboTwinDataset
+    TDAA: true
+    fastwam_norm_stats: ../FastWAM/checkpoints/fastwam_release/robotwin_uncond_3cam_384_dataset_stats.json
+    path: ../../Datasets/RoboTwin2.0_legacy/tdaa_clean
+    pretrained_norm_stats: checkpoints/tdaa_robotwin_telon1_160k/dataset_statistics.json
+    task_names:
+    - adjust_bottle
+    - dump_bin_bigbin
+    - grab_roller
+    - lift_pot
+    - move_playingcard_away
+    - open_laptop
+    - place_burger_fries
+    - place_container_plate
+    - press_stapler
+    - shake_bottle_horizontally
+    num_episodes: 50
+    split_mode: policy_all
+    camera_names:
+    - cam_high
+    - cam_left_wrist
+    - cam_right_wrist
+    val_episode_index: 0
+    is_training_set: true
+    action_horizon: 32
+    num_freqs: 24
+    num_frames: 9
+    video_size:
+    - 384
+    - 320
+    global_sample_stride: 1
+    max_samples: null
+    text_embedding_cache_dir: .cache/tdaa_text
+    use_text_embed_cache: true
+    context_len: 128
+  val:
+    _target_: fastwam.datasets.tdaa_robotwin.TDAARoboTwinDataset
+    TDAA: true
+    fastwam_norm_stats: ../FastWAM/checkpoints/fastwam_release/robotwin_uncond_3cam_384_dataset_stats.json
+    path: ../../Datasets/RoboTwin2.0_legacy/tdaa_clean
+    pretrained_norm_stats: checkpoints/tdaa_robotwin_telon1_160k/dataset_statistics.json
+    task_names:
+    - adjust_bottle
+    - dump_bin_bigbin
+    - grab_roller
+    - lift_pot
+    - move_playingcard_away
+    - open_laptop
+    - place_burger_fries
+    - place_container_plate
+    - press_stapler
+    - shake_bottle_horizontally
+    num_episodes: 50
+    split_mode: policy_all
+    camera_names:
+    - cam_high
+    - cam_left_wrist
+    - cam_right_wrist
+    val_episode_index: 0
+    is_training_set: false
+    action_horizon: 32
+    num_freqs: 24
+    num_frames: 9
+    video_size:
+    - 384
+    - 320
+    global_sample_stride: 1
+    max_samples: null
+    text_embedding_cache_dir: .cache/tdaa_text
+    use_text_embed_cache: true
+    context_len: 128
+model:
+  _target_: fastwam.runtime.create_fastwam_switch
+  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
+  proprio_dim: 14
+  redirect_common_files: false
+  mot_checkpoint_mixed_attn: false
+  compile_training_denoise: false
+  action_dit_pretrained_path: checkpoints/ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt
+  skip_dit_load_from_pretrain: false
+  video_dit_config:
+    has_image_input: false
+    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_clip_embedding: false
+    require_vae_embedding: false
+    fuse_vae_embedding_in_latents: true
+    use_gradient_checkpointing: false
+    video_attention_mask_mode: first_frame_causal
+    action_conditioned: false
+    action_dim: 14
+    action_group_causal_mask_mode: group_diagonal
+  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: false
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 1.0
+    infer_shift: 1.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_action: 1.0
+  TDAA: true
+  frozen: true
+  codec_reconstruction_weight: 1.0
+  codec_progress_weight: 0.1
+  codec_dir: checkpoints/tdaa_robotwin_telon1_160k
+  bootstrap_checkpoint: null

work_dirs/hope_fastwam_tdaa_frozen_20260918_152717_1219/dataset_parity.json

@@ -0,0 +1,185 @@
+{
+  "scope": "FastWAM policy vs FastWAM+TDAA policy",
+  "requested_tasks": [
+    "adjust_bottle",
+    "dump_bin_bigbin",
+    "grab_roller",
+    "lift_pot",
+    "move_playingcard_away",
+    "open_laptop",
+    "place_burger_fries",
+    "place_container_plate",
+    "press_stapler",
+    "shake_bottle_horizontally"
+  ],
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+      "sample_index_sha256": "8f0ee441786635d801a7893f40a1959d1f02c91d99ac17b72b1cc7eefcadd403",
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+        "place_container_plate": 50,
+        "press_stapler": 50,
+        "shake_bottle_horizontally": 50
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+      "text_and_masks_equal": true
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+  },
+  "task_names": [
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+    "dump_bin_bigbin",
+    "grab_roller",
+    "lift_pot",
+    "move_playingcard_away",
+    "open_laptop",
+    "place_burger_fries",
+    "place_container_plate",
+    "press_stapler",
+    "shake_bottle_horizontally"
+  ],
+  "task_count": 10,
+  "data_root": "/mnt/dolphinfs/ssd_pool/docker/user/hadoop-nlp-sh02/hadoop-aipnlp/EVA/buxizhou/Datasets/RoboTwin2.0_legacy/tdaa_clean",
+  "video_shape": [
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+    320
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+  "camera_names": [
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+  "intentional_method_differences": [
+    "Baseline uses its policy action/state normalization; the trained TDAA codec retains its AE action/frequency statistics.",
+    "TDAA adds executed-action history and MiniLM task features for the codec.",
+    "Matching policy data does not imply matching the AE hold-out split or the original TDAA policy's padded-tail sampling."
+  ]
+}

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