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worldmodel: limit to planar pose conditioning #33

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Merged
YassineYousfi merged 3 commits into from
Jul 16, 2026
Merged

worldmodel: limit to planar pose conditioning #33

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96b215f
worldmodel: add experimental planar pose conditioning
rkdune Jul 11, 2026
096b5c4
worldmodel: remove redundant planar pose config default, remove stale…
rkdune Jul 16, 2026
109b121
restore CI pyrefly suppressions
rkdune Jul 16, 2026
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8 changes: 8 additions & 0 deletions torchtitan/experiments/worldmodel/model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -817,6 +817,7 @@ class Config(BaseModel.Config):
compressor_std: float
transformer: TransformerConfig
plan_head: TransformerConfig
experimental_pose_only_xy: bool
x_embedder: PatchEmbedderLinearsConfig = field(init=False)
augments_pos_ref_augment_embedder: ConditioningEmbedderLinearsConfig = field(
init=False
Expand Down Expand Up @@ -1092,6 +1093,13 @@ def forward(
input_pos_mask_pair.input_mask,
)

if self.config.experimental_pose_only_xy:
augments_pos_ref_augment = augments_pos_ref_augment * (
augments_pos_ref_augment.new_tensor((1.0, 1.0, 0.0))
)
ref_augment_from_augments_euler = ref_augment_from_augments_euler * (
ref_augment_from_augments_euler.new_tensor((0.0, 0.0, 1.0))
)
pos_embed = (
self.pos_embed[:, input_pos] if input_pos is not None else self.pos_embed
)
Expand Down
2 changes: 2 additions & 0 deletions torchtitan/experiments/worldmodel/model_config.py
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Expand Up @@ -77,6 +77,7 @@ def _model_config(
attention_impl: str = "FLEX",
attention_mask: str = "LAST_FRAME_CAUSAL",
norm: str = "RMSNorm",
experimental_pose_only_xy: bool = False,
) -> WorldModel.Config:
stats = COMPRESSOR_STATS[COMPRESSOR_MODEL]
return WorldModel.Config(
Expand All @@ -88,6 +89,7 @@ def _model_config(
time_factor=1.0,
compressor_mean=stats["mean"],
compressor_std=stats["std"],
experimental_pose_only_xy=experimental_pose_only_xy,
transformer=TransformerConfig(
n_layer=layers,
n_embd=hidden,
Expand Down
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