File size: 1,635 Bytes
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artifacts:
policy: policy.pt
vae: Wan2.2_VAE.pth
prompt_contexts: prompt_contexts.pt
model:
class: RgbActionMoT
dtype: bfloat16
cross_modal_attention: bidirectional
video:
hidden_dim: 3072
in_dim: 48
ffn_dim: 14336
out_dim: 48
text_dim: 4096
freq_dim: 256
eps: 1.0e-6
patch_size: [1, 2, 2]
num_heads: 24
attn_head_dim: 128
num_layers: 30
video_attention_mask_mode: bidirectional
action:
action_dim: 14
state_dim: 14
hidden_dim: 576
ffn_dim: 2304
text_dim: 4096
freq_dim: 256
eps: 1.0e-6
num_heads: 24
attn_head_dim: 128
num_layers: 30
conditioning:
image: cam_high_rgb_frame0
state: raw_qpos_at_frame0
text: frozen_prompt_context
image:
input_layout: HWC
input_dtype: uint8
training_color_order: rgb
preprocessing: center_square_crop_then_resize
resolution: 256
normalized_range: [-1.0, 1.0]
action:
horizon: 32
frequency_hz: 25.0
dimension: 14
representation: dual_arm_joint_position_plus_gripper
layout: left_joint6_gripper_right_joint6_gripper
semantics: absolute_recorded_joint_position_command
integration: none
normalization: piper_joint_action_q01_q99_v1
implicit_clip: false
diffusion:
video_train_timesteps: 1000
video_infer_shift: 5.0
action_train_timesteps: 1000
action_infer_shift: 5.0
inference_steps: 20
tasks:
assemble_battery_long: Perform the long-horizon battery assembly task.
battery_assemble: Assemble the battery components.
pack_3_objects_plus: Pack the three objects into the container.
stack_3_cups_gen: Stack the three cups.
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