Add files using upload-large-folder tool

action_stats.json

@@ -0,0 +1,79 @@
+{
+  "robotwin_qpos": {
+    "error_count": 0,
+    "file_count": 26019,
+    "max": [
+      2.9645960330963135,
+      3.408608913421631,
+      3.9797866344451904,
+      1.779821515083313,
+      1.9189316034317017,
+      3.9992024898529053,
+      1.0,
+      3.508810043334961,
+      3.41229248046875,
+      3.9269134998321533,
+      1.9578161239624023,
+      1.6463686227798462,
+      3.971259832382202,
+      1.0
+    ],
+    "mean": [
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+      1.0666611194610596,
+      0.7757362723350525,
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+      0.046992022544145584,
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+      0.6790317296981812,
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+      0.008350813761353493,
+      0.014931226149201393,
+      0.6921340227127075
+    ],
+    "min": [
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+      -0.5869680047035217,
+      -0.16984523832798004,
+      -1.9564759731292725,
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+      0.0,
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+      -2.1700572967529297,
+      -2.190300941467285,
+      -3.9965078830718994,
+      0.0
+    ],
+    "num_workers": 8,
+    "processing_time_seconds": 5.688045024871826,
+    "qpos_dim": 14,
+    "splits": [
+      "clean",
+      "randomized"
+    ],
+    "std": [
+      0.30420008301734924,
+      1.0038063526153564,
+      0.7900750041007996,
+      0.7060451507568359,
+      0.31058570742607117,
+      0.6451691389083862,
+      0.45138606429100037,
+      0.29085657000541687,
+      1.022655963897705,
+      0.8035516142845154,
+      0.7121128439903259,
+      0.25685587525367737,
+      0.6549587845802307,
+      0.4463484585285187
+    ],
+    "total_frames": 4704574,
+    "type": "mean_std"
+  }
+}

config_audit/audit.json

@@ -0,0 +1,10 @@
+{
+  "baseline": "absolute_motion_v2",
+  "label": "packing",
+  "resolved_file": "resolved_packing.json",
+  "resolved_sha256": "cce74160931d3eeb523566a6f8ad25b05109bca50c24480fa422e410eb07a4c4",
+  "schema_version": 1,
+  "source_file": "profile.yaml",
+  "source_path": "/data/wam-project/experiments/absolute_motion_v2/source/DynamicWAM/src/dynamicwam/config/absolute_motion_v2.yaml",
+  "source_sha256": "05d7786ea7894efa733086f1bcfa27f25b2178525bf0753af4bb2503f1f94ad1"
+}

config_audit/profile.yaml

@@ -0,0 +1,261 @@
+# DynamicWAM quality-filtered exact-time absolute-motion production profile.
+# Every executable derives its resolved settings from this file and snapshots
+# both the source bytes and resolved configuration into its run directory.
+schema_version: 2
+baseline: absolute_motion_v2
+
+paths:
+  project_root: /data/wam-project/experiments/absolute_motion_v2/source/DynamicWAM
+  source_dataset: /data/wam-project/experiments/absolute_motion_v2/data/converted/DOMINO_exact_time
+  packed_dataset: /data/wam-project/experiments/absolute_motion_v2/data/packed/DOMINO_absolute_motion_v2
+  head_flow_cache: /data/wam-project/experiments/absolute_motion_v2/data/flow_cache/DOMINO_absolute_motion_v2
+  wan_root: /data/wam-project/experiments/absolute_motion_v2/external/Wan2.2-TI2V-5B
+  training_runs: /data/wam-project/experiments/absolute_motion_v2/runs/training
+  pca_artifacts: /data/wam-project/experiments/absolute_motion_v2/runs/stage1_pca
+  stage1_checkpoint: /data/wam-project/experiments/absolute_motion_v2/runs/training/absolute_motion_stage1_video/exports/stage1_step_80000.pt
+  base_checkpoint: /data/wam-project/experiments/absolute_motion_v2/external/b0_stage3_step_40000.pt
+  base_action_stats: /data/wam-project/experiments/absolute_motion_v2/external/b0_action_stats.json
+  motion_init_checkpoint: /data/wam-project/experiments/absolute_motion_v2/runs/checkpoint_init/absolute_motion_init.pt
+  stage2_checkpoint: /data/wam-project/experiments/absolute_motion_v2/runs/training/absolute_motion_stage2_action/exports/stage2_step_80000.pt
+  stage3_checkpoint: /data/wam-project/experiments/absolute_motion_v2/runs/training/absolute_motion_stage3_joint/exports/stage3_step_40000.pt
+  action_stats: /data/wam-project/experiments/absolute_motion_v2/data/packed/DOMINO_absolute_motion_v2/action_stats.json
+  evaluation_runs: /data/wam-project/experiments/absolute_motion_v2/runs/eval
+
+method:
+  flow_matching:
+    shift: 5.0
+    sigma_min: 0.0
+    extra_one_step: true
+    training_timesteps: 1000
+  observation:
+    head_size: [240, 320]
+    wrist_size: [120, 160]
+  video:
+    num_frames: 8
+    size: [384, 320]
+    future_size: [192, 160]
+    global_downsample_rate: 3
+    video_action_frequency_ratio: 2
+  head_flow:
+    count: 4
+    policy_stride: 4
+    compute_size: [64, 64]
+    container_fps: 30.0
+    normalization_percentile: 99.0
+    farneback:
+      pyr_scale: 0.5
+      levels: 3
+      winsize: 15
+      iterations: 3
+      poly_n: 5
+      poly_sigma: 1.2
+      flags: 0
+    quality:
+      method: forward_backward_consistency_v1
+      relative_error: 0.01
+      absolute_error_squared: 0.5
+      minimum_reliable_fraction: 0.1
+  compact_wan:
+    precision: bfloat16
+    dim: 2048
+    ffn_dim: 8192
+    num_heads: 16
+    num_layers: 12
+    head_dim: 128
+    hidden_anchor_layers: [1, 3, 5, 7, 9, 12]
+    motion_anchor_layers: [6, 8, 10, 12]
+    teacher_layer_mapping: [1, 2, 4, 6, 8, 11, 14, 17, 20, 23, 26, 30]
+  action_expert:
+    dim: 768
+    ffn_dim: 3072
+    num_layers: 12
+    chunk_size: 16
+    state_dim: 14
+    action_dim: 14
+  normalization_epsilon: 1.0e-6
+
+collection:
+  domino_commit: 9b1f34129323957baff35bcbc866fceca7e02779
+  clean_config_name: absolute_motion_clean
+  randomized_config_name: absolute_motion_randomized
+  clean_episodes_per_task: 150
+  randomized_episodes_per_task: 150
+  previous_randomized_episodes_per_task: 600
+  workers_per_gpu: 2
+  planner_workers_per_task: 2
+  renderer_workers_per_task: 1
+  renderer_recycle_attempts: 16
+  ready_buffer_episodes: 8
+  worker_poll_seconds: 0.25
+  collection_raw_mp4: false
+  converter_workers: 96
+  motion_statistics_workers: 64
+  language_source_root: /data/wam-project/datasets/DOMINO_converted
+
+initialization:
+  base_checkpoint_sha256: fa88a1f33f2205db5a4534e09bb02d1bee9dea7b2049299ac68932a34de82f03
+  base_action_stats_sha256: 730a91e41b6a23c70cec49cd222835373ba9364680da5753f4408c5534319b04
+  torch_seed: 20260718
+
+data:
+  splits: [clean, randomized]
+  samples_per_episode: 10
+  sampler_seed: 2026
+  max_open_shards: 16
+
+packing:
+  shard_size: 10000
+  language_items_per_shard: 64
+  max_open_shards: 8
+  device: cuda
+  batch_size: 64
+  num_workers: 8
+  pin_memory: true
+  persistent_workers: true
+  prefetch_factor: 2
+  qpos_cache_size: 8
+  progress_interval_seconds: 2
+  log_level: INFO
+  distributed_timeout_minutes: 240
+
+training:
+  common:
+    device: cuda
+    log_level: INFO
+    per_device_batch_size: 16
+    gradient_accumulation_steps: 1
+    weight_decay: 1.0e-3
+    grad_clip_norm: 1.0
+    num_workers: 4
+    pin_memory: true
+    persistent_workers: true
+    prefetch_factor: 2
+    log_interval: 10
+    checkpoint_interval: 40000
+    checkpoint_total_limit: 10
+    resume_from: ""
+  distributed:
+    zero_stage: 0
+    bf16: true
+    steps_per_print: 2000
+  stage1_pca:
+    episodes: 1000
+    subclips_per_episode: 4
+    states_per_subclip: 2
+    max_tokens_per_layer: 200000
+    seed: 2026
+  stage1:
+    allow_tf32: true
+    cudnn_benchmark: true
+    max_steps: 80000
+    learning_rate: 5.0e-5
+    min_lr_ratio: 0.001
+    warmup_steps: 1000
+    projection_dim: 256
+    hidden_teacher_layers: [1, 4, 8, 14, 20, 30]
+    motion_teacher_layers: [11, 17, 23, 30]
+    lambda_gt: 1.0
+    lambda_hidden_schedule: [0.2, 0.1, 0.0]
+    lambda_motion_schedule: [0.2, 0.1, 0.0]
+    schedule_boundaries: [0.35, 0.75, 1.0]
+    timestep_sampler:
+      uniform_weight: 0.25
+      low_center: 0.25
+      low_weight: 1.0
+      mid_center: 0.50
+      mid_weight: 1.25
+      high_center: 0.75
+      high_weight: 0.75
+      width: 0.22
+    sigma_loss_weights:
+      gt:
+        max_sigma: 0.75
+        softness: 0.12
+        floor: 0.25
+      hidden:
+        center: 0.50
+        width: 0.25
+        floor: 0.20
+      motion:
+        center: 0.50
+        width: 0.30
+        floor: 0.20
+  stage2:
+    max_steps: 80000
+    learning_rate: 5.0e-5
+    min_lr_ratio: 1.0e-5
+    warmup_steps: 0
+    action_weight: 1.0
+  stage3:
+    max_steps: 40000
+    action_learning_rate: 5.0e-5
+    video_learning_rate: 1.0e-5
+    min_lr_ratio: 1.0e-5
+    warmup_steps: 0
+    action_weight: 1.0
+    video_weight_initial: 0.01
+    video_weight: 0.001
+    video_weight_anneal_steps: 2000
+
+inference:
+  device: cuda
+  num_inference_steps: 10
+  video_refresh_steps: [0, 1]
+  action_interval_ms: 100
+  scene_prefix: "The whole scene is in a realistic, industrial art style with three views: a fixed rear camera, a movable left arm camera, and a movable right arm camera. The aloha robot is currently performing the following task: "
+
+benchmark:
+  policy_registration_name: ciwam.adapters.domino.deploy_policy_sync_flow
+  task_config: demo_clean_dynamic
+  instruction_type: unseen
+  checkpoint_label: absolute-motion-v2-stage3-40k-sync-native-exec16-level1
+  dynamic_coefficient: 0.1
+  episodes_per_task: 100
+  start_seed: 100000
+  slot_seed_stride: 100000
+  execute_steps: 16
+  gpus: ["0", "1", "2", "3", "4", "5", "6", "7"]
+  task_timeout_seconds: 86400
+  bootstrap_replicates: 2000
+  bootstrap_seed: 20260714
+  python: /data/wam-project/envs/RoboTwin/bin/python3.10
+  domino_root: /data/wam-project/experiments/absolute_motion_v2/source/vendor/DOMINO
+  eval_policy: /data/wam-project/experiments/absolute_motion_v2/source/vendor/DOMINO/script/eval_policy.py
+  curobo_root: /data/wam-project/eval_runtime/curobo_cuda128_sm90/src
+  curobo_extension_sha256: 477ce47d82ac8bf7204d3c542f8a818be3ee4fcd0d18cdae7ec57d17aa920b81
+  tasks:
+    - adjust_bottle
+    - dump_bin_bigbin
+    - grab_roller
+    - handover_block
+    - handover_mic
+    - hanging_mug
+    - move_can_pot
+    - move_playingcard_away
+    - place_a2b_left
+    - place_a2b_right
+    - place_bread_skillet
+    - place_can_basket
+    - place_object_basket
+    - put_bottles_dustbin
+    - put_object_cabinet
+    - rotate_qrcode
+    - scan_object
+    - shake_bottle
+    - shake_bottle_horizontally
+    - beat_block_hammer
+    - click_alarmclock
+    - click_bell
+    - move_pillbottle_pad
+    - move_stapler_pad
+    - place_bread_basket
+    - place_container_plate
+    - place_empty_cup
+    - place_fan
+    - place_mouse_pad
+    - place_object_scale
+    - place_object_stand
+    - place_phone_stand
+    - place_shoe
+    - press_stapler
+    - stamp_seal

config_audit/resolved_packing.json

@@ -0,0 +1,85 @@
+{
+  "launch": {
+    "overwrite": false
+  },
+  "packing": {
+    "action_stats": {
+      "qpos_dim": 14,
+      "sha256": "730a91e41b6a23c70cec49cd222835373ba9364680da5753f4408c5534319b04",
+      "source_path": "/data/wam-project/experiments/absolute_motion_v2/external/b0_action_stats.json"
+    },
+    "build": {
+      "batch_size": 64,
+      "device": "cuda",
+      "dist_timeout_minutes": 240,
+      "log_level": "INFO",
+      "num_workers": 8,
+      "persistent_workers": true,
+      "pin_memory": true,
+      "prefetch_factor": 2,
+      "progress_interval_seconds": 2,
+      "qpos_cache_size": 8
+    },
+    "dataset": {
+      "max_open_shards": 8,
+      "sampler_seed": 2026,
+      "samples_per_episode": 10
+    },
+    "head_flow": {
+      "cache_root": "/data/wam-project/experiments/absolute_motion_v2/data/flow_cache/DOMINO_absolute_motion_v2",
+      "compute_size": [
+        64,
+        64
+      ],
+      "container_fps": 30.0,
+      "count": 4,
+      "farneback": {
+        "flags": 0,
+        "iterations": 3,
+        "levels": 3,
+        "poly_n": 5,
+        "poly_sigma": 1.2,
+        "pyr_scale": 0.5,
+        "winsize": 15
+      },
+      "motion_stats_path": "/data/wam-project/experiments/absolute_motion_v2/data/flow_cache/DOMINO_absolute_motion_v2/motion_stats.json",
+      "normalization_percentile": 99.0,
+      "policy_stride": 4,
+      "quality": {
+        "absolute_error_squared": 0.5,
+        "method": "forward_backward_consistency_v1",
+        "minimum_reliable_fraction": 0.1,
+        "relative_error": 0.01
+      },
+      "source_root": "/data/wam-project/experiments/absolute_motion_v2/data/converted/DOMINO_exact_time"
+    },
+    "language": {
+      "items_per_shard": 64
+    },
+    "latent": {
+      "future_video_size": [
+        192,
+        160
+      ],
+      "precision": "bfloat16",
+      "shard_size": 10000,
+      "vae_path": "/data/wam-project/experiments/absolute_motion_v2/external/Wan2.2-TI2V-5B/Wan2.2_VAE.pth"
+    },
+    "output_root": "/data/wam-project/experiments/absolute_motion_v2/data/packed/DOMINO_absolute_motion_v2",
+    "source": {
+      "global_downsample_rate": 3,
+      "normalization_epsilon": 1e-06,
+      "num_video_frames": 8,
+      "root": "/data/wam-project/experiments/absolute_motion_v2/data/converted/DOMINO_exact_time",
+      "splits": [
+        "clean",
+        "randomized"
+      ],
+      "video_action_freq_ratio": 2,
+      "video_size": [
+        384,
+        320
+      ]
+    }
+  }
+}

dataset.json

@@ -0,0 +1,206 @@
+{
+  "absolute_motion": {
+    "feature_mean": [
+      0.019529007600247346,
+      0.12225935439350623,
+      0.8964255743383858,
+      4.517497216452522,
+      0.6448150904876828,
+      0.0309103062768063,
+      0.2058298991870023,
+      1.4340588624522224,
+      7.0907270931944435,
+      -0.006833963318252222,
+      -0.02702456671062158,
+      2.3561270617114976
+    ],
+    "feature_names": [
+      "mean_displacement_x_pixels",
+      "mean_displacement_y_pixels",
+      "mean_displacement_magnitude_pixels",
+      "p99_displacement_magnitude_pixels",
+      "delta_t_seconds",
+      "mean_velocity_x_pixels_per_second",
+      "mean_velocity_y_pixels_per_second",
+      "mean_speed_pixels_per_second",
+      "p99_speed_pixels_per_second",
+      "mean_acceleration_x_pixels_per_second2",
+      "mean_acceleration_y_pixels_per_second2",
+      "mean_acceleration_magnitude_pixels_per_second2"
+    ],
+    "feature_scale": [
+      0.5310268747509239,
+      0.8741626083994786,
+      0.7836347774371141,
+      2.93830748218575,
+      0.06971438394612384,
+      0.8478451414408252,
+      1.449657974637844,
+      1.3127506455024596,
+      4.706077776646154,
+      1.659245191626343,
+      2.80464355110946,
+      2.2513467867458954
+    ],
+    "flow_contract": {
+      "compute_size": [
+        64,
+        64
+      ],
+      "farneback": {
+        "flags": 0,
+        "iterations": 3,
+        "levels": 3,
+        "poly_n": 5,
+        "poly_sigma": 1.2,
+        "pyr_scale": 0.5,
+        "winsize": 15
+      },
+      "normalization_percentile": 99.0,
+      "policy_stride": 4,
+      "quality": {
+        "absolute_error_squared": 0.5,
+        "method": "forward_backward_consistency_v1",
+        "minimum_reliable_fraction": 0.1,
+        "relative_error": 0.01
+      },
+      "source_view": "head"
+    },
+    "history_count": 4,
+    "spatial_unit": "configured_flow_compute_grid_pixels",
+    "statistics_file": "motion_stats.json",
+    "statistics_sha256": "7a2109f0d93418e9bc3b5c1c6c9961ac7afbda61f672a153b999e8df385a01b4",
+    "temporal_contract": "exact_simulator_time_absolute_motion_v2",
+    "timestamp_source": "domino_schema_v2.sim_time_seconds"
+  },
+  "created_at_unix": 1784624249.0938034,
+  "data": {
+    "action_chunk_size": 16,
+    "action_normalization": {
+      "enabled": true,
+      "epsilon": 1e-06,
+      "stats_file": "action_stats.json",
+      "stats_sha256": "730a91e41b6a23c70cec49cd222835373ba9364680da5753f4408c5534319b04",
+      "type": "mean_std"
+    },
+    "global_downsample_rate": 3,
+    "num_video_frames": 8,
+    "video_action_freq_ratio": 2,
+    "video_size": [
+      384,
+      320
+    ]
+  },
+  "dataset_fingerprint": "2feac8645817e3a896afd855341130f23a6d92bfd28917f4cb3e2dbb4eb68154",
+  "episode_count": 10500,
+  "format": "dynamicwam_absolute_motion_dataset",
+  "language": {
+    "dtype": "bfloat16",
+    "policy": "deterministic",
+    "storage": "bank"
+  },
+  "latent": {
+    "condition_latent_source": "head_flow_4_plus_current_frame",
+    "future_video_size": [
+      192,
+      160
+    ],
+    "head_flow": {
+      "compute_size": [
+        64,
+        64
+      ],
+      "container_fps": 30.0,
+      "endpoint_rule": "full_fixed_model_policy_stride_v2",
+      "farneback": {
+        "flags": 0,
+        "iterations": 3,
+        "levels": 3,
+        "poly_n": 5,
+        "poly_sigma": 1.2,
+        "pyr_scale": 0.5,
+        "winsize": 15
+      },
+      "global_downsample_rate": 3,
+      "k": 4,
+      "motion_feature_names": [
+        "mean_displacement_x_pixels",
+        "mean_displacement_y_pixels",
+        "mean_displacement_magnitude_pixels",
+        "p99_displacement_magnitude_pixels",
+        "delta_t_seconds",
+        "mean_velocity_x_pixels_per_second",
+        "mean_velocity_y_pixels_per_second",
+        "mean_speed_pixels_per_second",
+        "p99_speed_pixels_per_second",
+        "mean_acceleration_x_pixels_per_second2",
+        "mean_acceleration_y_pixels_per_second2",
+        "mean_acceleration_magnitude_pixels_per_second2"
+      ],
+      "physical_timestamps_available": true,
+      "policy_stride": 4,
+      "quality": {
+        "absolute_error_squared": 0.5,
+        "method": "forward_backward_consistency_v1",
+        "minimum_reliable_fraction": 0.1,
+        "relative_error": 0.01
+      },
+      "raw_index_unit": "converted_video_frame",
+      "raw_offsets": [
+        48,
+        36,
+        24,
+        12,
+        0
+      ],
+      "raw_stride": 12,
+      "rgb_normalization": {
+        "percentile": 99.0,
+        "type": "per_map_percentile"
+      },
+      "source_view": "head",
+      "spatial_unit": "configured_flow_compute_grid_pixels",
+      "temporal_contract": "exact_simulator_time_absolute_motion_v2",
+      "timestamp_source": "domino_schema_v2.sim_time_seconds"
+    },
+    "precision": "bfloat16"
+  },
+  "manifest_sha256": "926ae37efced8fec3f1a59c4fe2930fbb9bca4c65197efe9e9ba80aa9fabdb16",
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+  "sample_layout": "exhaustive",
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