| format_version: 1 | |
| 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. | |