Keep FastWAM release weight-only

README.md

@@ -77,61 +77,3 @@ Evaluation commands are provided in the
 
 The checkpoint is distributed under the Apache License 2.0. RIFT source code
 is distributed separately under the MIT License. See `NOTICE` for attribution.
-
----
-
-## FastWAM real-world baseline
-
-**Status: Not evaluated.** No real-world success rate or benchmark metric is
-reported for this checkpoint.
-
-This directory contains a separately trained FastWAM baseline for the real-world
-Galaxea indoor-cleaning setup. It is included for comparison and is not a RIFT
-checkpoint.
-
-### Training summary
-
-| Field | Value |
-| --- | --- |
-| Method | FastWAM baseline |
-| Dataset | Private real-world Galaxea indoor-cleaning subset |
-| Episodes | 445 retained episodes |
-| Training | 10 epochs, 14,830 optimizer steps |
-| Cameras | 3 camera streams |
-| Image resolution | 224 x 224 per camera |
-| Evaluation | Not evaluated |
-
-### Files
-
-The FastWAM artifacts are grouped under
-`fastwam/galaxea_indoor_cleaning_3cam224_10ep/`.
-
-| Repository path | Description |
-| --- | --- |
-| `fastwam/galaxea_indoor_cleaning_3cam224_10ep/fastwam_step014830.pt` | Final FastWAM weights after epoch 10 / step 14,830 |
-| `fastwam/galaxea_indoor_cleaning_3cam224_10ep/train_config_public.yaml` | Training configuration saved with the run |
-| `fastwam/galaxea_indoor_cleaning_3cam224_10ep/dataset_stats.json` | Normalization statistics for the 445-episode subset |
-
-Keep `train_config_public.yaml` and `dataset_stats.json` with the checkpoint.
-
-### Provenance and limitations
-
-- This artifact was produced by FastWAM training, not by the RIFT method.
-- The raw Galaxea recordings are private and are not distributed in this model repository.
-- The Galaxea subset is distinct from the public LIBERO dataset named in this model card's metadata.
-- The checkpoint has not been evaluated; publication does not imply real-world task performance.
-- Exact reproduction requires the same episode allowlist, preprocessing, source revision, and launch configuration.
-- Review `train_config_public.yaml` for machine-local absolute paths before public release.
-- The `.pt` file uses PyTorch serialization. Download it only from this repository and load it with `weights_only=True`.
-
-### Download
-
-```bash
-pip install -U huggingface_hub
-
-hf download PoopBear/RIFT \
-  fastwam/galaxea_indoor_cleaning_3cam224_10ep/fastwam_step014830.pt \
-  fastwam/galaxea_indoor_cleaning_3cam224_10ep/train_config_public.yaml \
-  fastwam/galaxea_indoor_cleaning_3cam224_10ep/dataset_stats.json \
-  --local-dir ./checkpoints/rift-release
-```

fastwam/galaxea_indoor_cleaning_3cam224_10ep/provenance.json

@@ -1,89 +0,0 @@
-{
-  "schema_version": 1,
-  "model_family": "FastWAM",
-  "task": "galaxea_indoor_cleaning",
-  "environment": "real_world",
-  "run_id": "20260819_100750_bs32_10ep_from_scratch_zero1",
-  "training_status": "completed",
-  "evaluation_status": "not_evaluated",
-  "completed_at": "2026-08-20T06:42:33+08:00",
-  "checkpoint": {
-    "filename": "fastwam_step014830.pt",
-    "source_step": 14830,
-    "size_bytes": 12041813369,
-    "format": "pytorch_zip_pickle",
-    "dtype": "bfloat16",
-    "optimizer_included": false
-  },
-  "training": {
-    "epochs": 10,
-    "max_steps": 14830,
-    "batch_size_per_process": 32,
-    "gradient_accumulation_steps": 1,
-    "learning_rate": 0.0001,
-    "lr_scheduler_type": "cosine",
-    "weight_decay": 0.01,
-    "max_grad_norm": 1.0,
-    "seed": 42,
-    "mixed_precision": "bf16",
-    "distributed": {
-      "gpu_count": 8,
-      "gpu_model": "NVIDIA A800 80GB",
-      "deepspeed_stage": 1
-    }
-  },
-  "data": {
-    "dataset": "private Galaxea indoor-cleaning subset",
-    "retained_episodes": 445,
-    "excluded_episodes": 116,
-    "training_windows": 379564,
-    "camera_keys": [
-      "head_rgb",
-      "left_wrist_rgb",
-      "right_wrist_rgb"
-    ],
-    "image_resolution": [224, 224],
-    "observation_frames": 33,
-    "action_dimension": 14,
-    "proprioception_dimension": 14,
-    "raw_data_in_artifact": false
-  },
-  "base_models": [
-    "Wan-AI/Wan2.2-TI2V-5B",
-    "Wan-AI/Wan2.1-T2V-1.3B"
-  ],
-  "runtime": {
-    "python": "3.10.16",
-    "torch": "2.8.0+cu126",
-    "cuda_runtime_from_torch_build": "12.6",
-    "deepspeed": "0.18.5",
-    "accelerate": "1.13.0",
-    "transformers": "4.55.2",
-    "huggingface_hub": "0.36.2",
-    "hydra_core": "1.3.2",
-    "omegaconf": "2.3.0"
-  },
-  "source": {
-    "repository": "https://github.com/yuantianyuan01/FastWAM.git",
-    "base_commit": "45d8e1458921d83f8ad6cf9ce993d371208dabd0",
-    "working_tree_clean": false,
-    "dirty_source_files": [
-      "scripts/precompute_text_embeds.py",
-      "src/fastwam/datasets/lerobot/base_lerobot_dataset.py",
-      "src/fastwam/datasets/lerobot/robot_video_dataset.py",
-      "configs/data/galaxea_indoor_cleaning.yaml",
-      "configs/task/galaxea_indoor_cleaning_fastwam_3cam224_1e-4.yaml"
-    ],
-    "reproducibility_note": "The run did not save a Git patch. The checkpoint is based on this commit plus the listed working-tree changes."
-  },
-  "path_sanitization": {
-    "OUTPUT_DIR": "Training output directory for a new run",
-    "GALAXEA_DATA_ROOT": "Root containing the listed Galaxea task directories, normalization statistics, and T5 cache",
-    "ACTION_DIT_CHECKPOINT": "Path to ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt"
-  },
-  "release_caveats": [
-    "No real-robot evaluation has been recorded for this checkpoint.",
-    "Confirm authorization for releasing derivatives of the private Galaxea dataset before publication.",
-    "Confirm the redistribution terms and provenance of the ActionDiT initialization checkpoint before publication."
-  ]
-}

fastwam/galaxea_indoor_cleaning_3cam224_10ep/train_config_public.yaml

@@ -1,390 +0,0 @@
-# Public, path-sanitized copy of the completed training configuration.
-# Required environment variables:
-#   OUTPUT_DIR: destination directory for a new run.
-#   GALAXEA_DATA_ROOT: directory containing the eight listed task folders,
-#     stat-norm/dataset_stats.json, and t5-cache.
-#   ACTION_DIT_CHECKPOINT: path to ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt.
-output_dir: ${oc.env:OUTPUT_DIR}
-batch_size: 32
-num_workers: 6
-lr_scheduler_type: cosine
-learning_rate: 0.0001
-num_epochs: 10
-max_steps: 14830
-log_every: 10
-save_every: 1483
-eval_every: 0
-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: galaxea_indoor_cleaning_fastwam_3cam224_1e-4
-  group: null
-  mode: online
-data:
-  train:
-    _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset
-    dataset_dirs:
-    - ${oc.env:GALAXEA_DATA_ROOT}/Clean_Cutting_Board_20250627_002
-    - ${oc.env:GALAXEA_DATA_ROOT}/Clean_The_Cutting_Board_20250711_006
-    - ${oc.env:GALAXEA_DATA_ROOT}/Clean_The_Cutting_Board_20250804_012
-    - ${oc.env:GALAXEA_DATA_ROOT}/Clean_The_Sink_20250710_006
-    - ${oc.env:GALAXEA_DATA_ROOT}/Clean_The_Sink_20250721_008
-    - ${oc.env:GALAXEA_DATA_ROOT}/Clean_The_Sink_20250730_012
-    - ${oc.env:GALAXEA_DATA_ROOT}/Wipe_The_Desktop_20250801_012
-    - ${oc.env:GALAXEA_DATA_ROOT}/Wipe_The_Desktop_20250804_011
-    expected_total_episodes:
-      Clean_Cutting_Board_20250627_002: 89
-      Clean_The_Cutting_Board_20250711_006: 56
-      Clean_The_Cutting_Board_20250804_012: 51
-      Clean_The_Sink_20250710_006: 79
-      Clean_The_Sink_20250721_008: 58
-      Clean_The_Sink_20250730_012: 46
-      Wipe_The_Desktop_20250801_012: 55
-      Wipe_The_Desktop_20250804_011: 127
-    exclude_episodes:
-      Clean_Cutting_Board_20250627_002:
-      - 1
-      - 2
-      - 3
-      - 4
-      - 5
-      - 6
-      - 7
-      - 8
-      - 9
-      - 10
-      - 11
-      - 12
-      - 13
-      - 14
-      - 15
-      - 16
-      - 17
-      - 18
-      - 20
-      - 21
-      - 23
-      - 24
-      - 25
-      - 31
-      - 34
-      - 45
-      - 56
-      - 67
-      - 78
-      - 85
-      - 88
-      Clean_The_Cutting_Board_20250711_006:
-      - 5
-      - 6
-      - 8
-      - 9
-      - 10
-      - 11
-      - 13
-      - 14
-      - 15
-      - 16
-      - 17
-      - 18
-      - 19
-      - 20
-      - 21
-      - 24
-      - 30
-      - 31
-      - 32
-      - 33
-      - 35
-      - 36
-      - 37
-      - 38
-      - 39
-      - 40
-      - 41
-      - 42
-      - 43
-      - 44
-      - 46
-      - 47
-      - 48
-      - 49
-      - 50
-      - 51
-      Clean_The_Cutting_Board_20250804_012:
-      - 0
-      - 1
-      Clean_The_Sink_20250710_006: []
-      Clean_The_Sink_20250721_008: []
-      Clean_The_Sink_20250730_012: []
-      Wipe_The_Desktop_20250801_012:
-      - 2
-      - 3
-      - 4
-      - 5
-      - 6
-      - 7
-      - 8
-      - 9
-      - 10
-      - 11
-      - 22
-      - 25
-      - 26
-      - 27
-      - 28
-      - 29
-      - 30
-      - 31
-      - 32
-      - 33
-      - 35
-      - 36
-      - 37
-      - 38
-      - 39
-      - 40
-      - 41
-      - 42
-      - 43
-      Wipe_The_Desktop_20250804_011:
-      - 3
-      - 4
-      - 8
-      - 11
-      - 21
-      - 70
-      - 74
-      - 84
-      - 86
-      - 89
-      - 100
-      - 103
-      - 104
-      - 107
-      - 108
-      - 111
-      - 121
-      - 123
-    shape_meta:
-      images:
-      - key: head_rgb
-        raw_shape:
-        - 3
-        - 224
-        - 224
-        shape:
-        - 3
-        - 224
-        - 224
-      - key: left_wrist_rgb
-        raw_shape:
-        - 3
-        - 224
-        - 224
-        shape:
-        - 3
-        - 224
-        - 224
-      - key: right_wrist_rgb
-        raw_shape:
-        - 3
-        - 224
-        - 224
-        shape:
-        - 3
-        - 224
-        - 224
-      action:
-      - key: left_arm
-        raw_shape: 6
-        shape: 6
-      - key: left_gripper
-        raw_shape: 1
-        shape: 1
-      - key: right_arm
-        raw_shape: 6
-        shape: 6
-      - key: right_gripper
-        raw_shape: 1
-        shape: 1
-      state:
-      - key: left_arm
-        raw_shape: 6
-        shape: 6
-      - key: left_gripper
-        raw_shape: 1
-        shape: 1
-      - key: right_arm
-        raw_shape: 6
-        shape: 6
-      - key: right_gripper
-        raw_shape: 1
-        shape: 1
-    num_frames: 33
-    global_sample_stride: 1
-    action_video_freq_ratio: 4
-    video_size:
-    - 384
-    - 320
-    camera_key: null
-    val_set_proportion: 0.0
-    is_training_set: true
-    pretrained_norm_stats: ${oc.env:GALAXEA_DATA_ROOT}/stat-norm/dataset_stats.json
-    skip_padding_as_possible: false
-    concat_multi_camera: robotwin
-    processor:
-      _target_: fastwam.datasets.lerobot.processors.fastwam_processor.FastWAMProcessor
-      shape_meta:
-        images:
-        - key: head_rgb
-          raw_shape:
-          - 3
-          - 224
-          - 224
-          shape:
-          - 3
-          - 224
-          - 224
-        - key: left_wrist_rgb
-          raw_shape:
-          - 3
-          - 224
-          - 224
-          shape:
-          - 3
-          - 224
-          - 224
-        - key: right_wrist_rgb
-          raw_shape:
-          - 3
-          - 224
-          - 224
-          shape:
-          - 3
-          - 224
-          - 224
-        action:
-        - key: left_arm
-          raw_shape: 6
-          shape: 6
-        - key: left_gripper
-          raw_shape: 1
-          shape: 1
-        - key: right_arm
-          raw_shape: 6
-          shape: 6
-        - key: right_gripper
-          raw_shape: 1
-          shape: 1
-        state:
-        - key: left_arm
-          raw_shape: 6
-          shape: 6
-        - key: left_gripper
-          raw_shape: 1
-          shape: 1
-        - key: right_arm
-          raw_shape: 6
-          shape: 6
-        - key: right_gripper
-          raw_shape: 1
-          shape: 1
-      num_obs_steps: 33
-      num_output_cameras: 3
-      action_output_dim: 14
-      proprio_output_dim: 14
-      action_state_transforms:
-      - _target_: fastwam.datasets.lerobot.transforms.relative_action.RelativeJointTransform
-        keys:
-        - left_arm
-        - right_arm
-      use_stepwise_action_norm: true
-      norm_default_mode: z-score
-      norm_exception_mode:
-        action:
-          left_gripper: 0/100
-          right_gripper: 0/100
-      action_state_merger:
-        _target_: fastwam.datasets.lerobot.transforms.action_state_merger.ConcatLeftAlign
-      train_transforms:
-      - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      val_transforms:
-      - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      drop_high_level_prob: 1.0
-      use_zh_instruction: false
-    text_embedding_cache_dir: ${oc.env:GALAXEA_DATA_ROOT}/t5-cache
-    context_len: 128
-model:
-  _target_: fastwam.runtime.create_fastwam
-  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: true
-  mot_checkpoint_mixed_attn: true
-  action_dit_pretrained_path: ${oc.env:ACTION_DIT_CHECKPOINT}
-  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: true
-    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: true
-  video_scheduler:
-    train_shift: 5.0
-    infer_shift: 5.0
-    num_train_timesteps: 1000
-  action_scheduler:
-    train_shift: 5.0
-    infer_shift: 5.0
-    num_train_timesteps: 1000
-  loss:
-    lambda_action: 1.0