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l1ziang
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LightWAM-AD-e100

autonomous-driving
navsim
world-model
lora
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LightWAM-AD-e100
File size: 1,391 Bytes
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{
  "format": "lightwam_ad_v1",
  "epoch": 100,
  "step": 131700,
  "checkpoint": "step_131700.pt",
  "sha256": "7b880759c6c4244cb9123cfd9320eed303dd9b6204979733fbfe4c96b95c52c5",
  "base_model": "Wan-AI/Wan2.1-T2V-1.3B",
  "task": "lightwam_ad_navsim_front_384x672",
  "tap_layers": [
    8,
    16,
    24
  ],
  "backbone_lora": {
    "enabled": true,
    "layer_indices": [
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    ],
    "target_modules": [
      "self_attn.q",
      "self_attn.k",
      "self_attn.v",
      "self_attn.o",
      "cross_attn.q",
      "cross_attn.k",
      "cross_attn.v",
      "cross_attn.o",
      "ffn.0",
      "ffn.2"
    ],
    "rank": 64,
    "alpha": 128.0,
    "dropout": 0.0
  },
  "training": {
    "epochs": 100,
    "effective_batch_size": 64,
    "precision": "bf16",
    "learning_rate": 0.0001,
    "optimizer": "AdamW",
    "weight_decay": 0.01,
    "lr_scheduler": "cosine",
    "seed": 42,
    "train_clips": 84258,
    "validation_clips": 851
  },
  "navsim_v2_epdms_100": {
    "navtest": 88.576,
    "navhard": 33.281
  },
  "code": "https://github.com/L1ziang/LightWAM-AD/tree/lightwam-ad"
}