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| Parameter | Value |
|---|---|
| Framework | VideoX-Fun |
| Base Model | Wan2.1-I2V-14B-480P |
| Training Data | RoboTwin aloha-agilex_clean_50 (2,500 videos, 50 tasks) |
| LoRA Rank | 32 |
| LoRA Alpha | 16 |
| LoRA Targets | q, k, v, ffn.0, ffn.2 |
| Learning Rate | 1e-4 (constant with warmup) |
| Warmup Steps | 100 |
| Precision | bf16 |
| Resolution | 640 × 640 |
| Frames | 81 per video |
| Batch Size | 1 per GPU (2 GPUs) |
| Total Steps | 12,500 (planned), 2,200 (completed) |
| File | Training Steps | Description |
|---|---|---|
| checkpoint-1200.safetensors | 1,200 | ~1 epoch of training |
| checkpoint-2200.safetensors | 2,200 | Latest checkpoint, used for 1000-video inference |
| Metric | Baseline Wan2.1 | SFT-Wan2.1 (ckpt300) |
|---|---|---|
| Image Quality | 70.44 | 48.80 |
| Background Consistency | 69.58 | 90.40 |
| Subject Consistency | 59.90 | 82.33 |
| Flow Score | 16.18 | 21.29 |