training_metadata.json

{
  "checkpoint": "step-100000.safetensors",
  "checkpoint_sha256": "3c1060b425866afc60fc37136973fa36f5d6803c49468f6b7be5be2967e57fe8",
  "checkpoint_size_bytes": 12041705425,
  "finished_at_utc": "2026-05-25T12:51:38Z",
  "local_run_directory": "src/vam/models/train/vam_icl/paired_v3_alltasks_mv_mot_ti2v5b_16g_100k_mask_v3_ref_openwam_eef_fastwam_warmstart_refdrop10_0524_0329",
  "wandb": {
    "entity": "wuji-tech",
    "project": "vam_icl",
    "run_id": "h7w9s4pf",
    "run_path": "wuji-tech/vam_icl/h7w9s4pf",
    "run_name": "paired_v3_train_mv_mot_ti2v5b_16g_100k_mask_v3_openwam_refdrop10_0524_0329",
    "url": "https://wandb.ai/wuji-tech/vam_icl/runs/h7w9s4pf"
  },
  "training": {
    "dataset": "RoboTwin ICL-paired v3",
    "target_robot": "arx-x5",
    "task_split": "train20",
    "episodes_per_task": 150,
    "steps": 100000,
    "base_model": "Wan-AI/Wan2.2-TI2V-5B",
    "action_stream": "30-layer ActionMoT, OpenWAM/FastWAM warm-start style",
    "action_space": "eef",
    "proprio_space": "action",
    "action_dim": 16,
    "proprio_dim": 16,
    "action_format": "absolute",
    "mask_variant": "v3",
    "reference_mode": "enabled",
    "reference_dropout": 0.1,
    "full_reference_video": true,
    "max_reference_frames": 41,
    "reference_subsample_factor": 4,
    "multiview": true,
    "height": 384,
    "width": 320,
    "num_frames": 9,
    "action_horizon": 32,
    "action_video_freq_ratio": 4
  },
  "validation_snapshot": {
    "step": 100000,
    "loss": 0.143614,
    "loss_video": 0.101261,
    "loss_action": 0.042352,
    "task": "grab roller",
    "action_mse": 0.000742,
    "action_mae": 0.020227,
    "video_mse": 1894.89,
    "psnr": 19.31,
    "ssim": 0.8012,
    "lpips": 0.1998
  }
}