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bimilab
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TeleopWM

Robotics
PyTorch
English
teleoperation
autonomous-driving
world-model
video-prediction
carla
predictive-display
future-action-prediction
Model card Files
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TeleopWM
File size: 7,492 Bytes
607693f
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
  "benchmark": "outputs/simvp_baseline/2026-05-25_08-44-43_full5ep_motionctxV2_grid2x4_fmScale3_dualWM10_delta05_MSE_dLong05_dSteer15_corr01_noDetach_conv1x1_ctrlSteerS030/benchmark",
  "checkpoints": "outputs/simvp_baseline/2026-05-25_08-44-43_full5ep_motionctxV2_grid2x4_fmScale3_dualWM10_delta05_MSE_dLong05_dSteer15_corr01_noDetach_conv1x1_ctrlSteerS030/checkpoints",
  "rollout_grids": "outputs/simvp_baseline/2026-05-25_08-44-43_full5ep_motionctxV2_grid2x4_fmScale3_dualWM10_delta05_MSE_dLong05_dSteer15_corr01_noDetach_conv1x1_ctrlSteerS030/rollout_grids",
  "run": {
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    "aux_dynamics_hidden_dim": 128,
    "aux_dynamics_loss": false,
    "aux_dynamics_loss_type": "smooth_l1",
    "aux_dynamics_target": "steer_longitudinal_speed",
    "aux_dynamics_weight": 0.05,
    "balanced_sampling": false,
    "batch_size": 4,
    "conditioning_dim": 32,
    "conditioning_fusion": null,
    "conditioning_injection": "single",
    "conditioning_representation": "longitudinal_steer_speed",
    "control_steer_input_scale": 0.3,
    "data_root": "/home/aws/work/data/mile_action_diverse/train",
    "debug_activation_stats": false,
    "debug_dual_gate": false,
    "device": "cuda",
    "drop_path": 0.0,
    "dual_align_direction": "simvp_to_wm",
    "dual_align_loss_type": "smooth_l1",
    "dual_align_loss_weight": 0.0,
    "dual_detach_simvp_target": true,
    "dual_fusion": "conv1x1",
    "dual_simvp_image_loss_weight": 0.0,
    "dual_wm_conditioning": "film",
    "dual_wm_gated": true,
    "dual_wm_hidden_dim": 512,
    "dual_wm_image_loss_weight": 0.0,
    "dual_wm_num_layers": 3,
    "dual_wm_scale": 1.0,
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    "eval_every_steps": 5000,
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    "full_val_samples": 13452,
    "future_action_cls_loss": true,
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    "future_action_detach_latents": false,
    "future_action_dropout": 0.0,
    "future_action_future_motion_scale": 3.0,
    "future_action_head_variant": "motion_context_v2",
    "future_action_hidden_dim": 256,
    "future_action_longitudinal_cls_weight": 1.0,
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    "future_action_num_layers": 1,
    "future_action_source": "wm",
    "future_action_spatial_grid": "2x4",
    "future_action_spatial_pooling": "grid",
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    "future_action_target": "longitudinal_steer",
    "future_steer_target_scale": 0.3,
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    "height": 320,
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    "log_interval": 20,
    "longitudinal_coast_threshold": 0.05,
    "lr": 0.001,
    "maneuver_metadata": null,
    "maneuver_speed_metadata": "outputs/maneuver_metadata/maneuver_metadata.csv",
    "maneuver_speed_weights": "straight_accel=0.5,straight_const=0.15,straight_decel=0.8,mild_turn_accel=2,mild_turn_const=1.0,mild_turn_decel=2,sharp_turn_accel=4,sharp_turn_const=3,sharp_turn_decel=4",
    "maneuver_weights": "straight=1,mild_turn=1,sharp_turn=1",
    "max_interim_val_batches": 50,
    "max_train_samples": null,
    "max_train_steps": null,
    "max_val_batches": null,
    "max_val_samples": null,
    "model_type": "gSTA",
    "model_variant": "av_wm_dual_bigwm",
    "n_s": 4,
    "n_t": 4,
    "no_amp": true,
    "no_progress_bar": false,
    "normalize_controls": true,
    "num_workers": 12,
    "output_dir": "outputs/simvp_baseline",
    "resume": null,
    "run_tag": "full5ep_motionctxV2_grid2x4_fmScale3_dualWM10_delta05_MSE_dLong05_dSteer15_corr01_noDetach_conv1x1_ctrlSteerS030",
    "sampling_strategy": "maneuver_speed_balanced",
    "seed": 42,
    "selected_train_towns": [
      "Town01",
      "Town03",
      "Town04"
    ],
    "selected_val_towns": [
      "Town02"
    ],
    "simvp_conditioning": "none",
    "simvp_conditioning_stage": "input",
    "speed_delta_threshold": 0.3,
    "speed_dim": 1,
    "speed_scale": 20.0,
    "split_seed": 42,
    "ssim_loss_weight": 0.0,
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    "stop_on_nan": true,
    "subset_strategy": "first",
    "test_data_root": null,
    "train_data_root": "/home/aws/work/data/mile_action_diverse/train",
    "train_samples": 93427,
    "train_towns": [
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      "Town04"
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    "val_data_root": "/home/aws/work/data/mile_action_diverse/val",
    "val_fraction": 0.1,
    "val_maneuver_metadata": null,
    "val_maneuver_speed_metadata": null,
    "val_samples": 13452,
    "val_subset_strategy": "first",
    "val_towns": [
      "Town02"
    ],
    "validation_mode": "explicit_val_root",
    "weight_decay": 0.0,
    "weights_path": null,
    "width": 512,
    "wm_latent_residual": false,
    "wm_residual_gated": true,
    "wm_residual_hidden_dim": 128,
    "wm_residual_loss": false,
    "wm_residual_loss_type": "smooth_l1",
    "wm_residual_loss_weight": 0.05,
    "wm_residual_scale": 0.1
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  "trainer": {
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    "aux_dynamics_loss_type": "smooth_l1",
    "aux_dynamics_weight": 0.05,
    "batch_size": 4,
    "control_steer_input_scale": 0.3,
    "debug_activation_stats": false,
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    "dual_align_direction": "simvp_to_wm",
    "dual_align_loss_type": "smooth_l1",
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    "dual_detach_simvp_target": true,
    "dual_simvp_image_loss_weight": 0.0,
    "dual_wm_image_loss_weight": 0.0,
    "epochs": 5,
    "eval_every_steps": 5000,
    "future_action_cls_loss": true,
    "future_action_cls_weight": 0.1,
    "future_action_corr_loss_weight": 0.1,
    "future_action_delta_longitudinal_weight": 0.5,
    "future_action_delta_loss": true,
    "future_action_delta_loss_type": "mse",
    "future_action_delta_loss_weight": 0.5,
    "future_action_delta_steer_weight": 1.5,
    "future_action_detach_latents": false,
    "future_action_future_motion_scale": 3.0,
    "future_action_head_variant": "motion_context_v2",
    "future_action_longitudinal_cls_weight": 1.0,
    "future_action_loss": true,
    "future_action_loss_type": "mse",
    "future_action_loss_weight": 1.0,
    "future_action_source": "wm",
    "future_action_steer_cls_weight": 1.0,
    "future_steer_target_scale": 0.3,
    "grad_clip_norm": 1.0,
    "learning_rate": 0.001,
    "log_grad_norms": true,
    "log_interval": 20,
    "longitudinal_coast_threshold": 0.05,
    "max_interim_val_batches": 50,
    "max_train_steps": null,
    "max_val_batches": null,
    "num_workers": 12,
    "output_dir": "outputs/simvp_baseline",
    "progress_bar": true,
    "resume_checkpoint": null,
    "run_tag": "full5ep_motionctxV2_grid2x4_fmScale3_dualWM15_delta05_MSE_dLong05_dSteer15_corr01_noDetach_conv1x1_ctrlSteerS030",
    "save_every": 1,
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    "steer_straight_threshold": 0.03,
    "stop_on_nan": true,
    "weight_decay": 0.0,
    "wm_residual_loss": false,
    "wm_residual_loss_type": "smooth_l1",
    "wm_residual_loss_weight": 0.05
  }
}