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dreamzero

README.md

DreamZero Examples

Run these scripts from the repository root.

Script Purpose
prepare_dreamzero_dataset.sh Validate LeRobot data and generate required DreamZero metadata.
precompute_dreamzero_cache.sh Generate and validate DreamZero feature cache artifacts.
run_dreamzero_wan22_5b_full_ddp_zero1_finetune.sh Run Wan2.2 5B full fine-tuning with DDP and ZeRO-1.
run_dreamzero_wan21_14b_full_fsdp_finetune.sh Run Wan2.1 14B full fine-tuning with FSDP.

Paths

The scripts use /workspace/dreamzero/{data,checkpoints,cache} by default. Set the shared roots when the data and checkpoints are stored elsewhere:

export DREAMZERO_DATA_ROOT=/path/to/dreamzero/data
export DREAMZERO_CKPT_ROOT=/path/to/dreamzero/checkpoints
export DREAMZERO_CACHE_ROOT=/path/to/dreamzero/cache

Prepare Dataset

The official preprocessed DROID dataset can be used directly; this command validates it and fills any missing DreamZero metadata. Standard LIBERO and DreamZero-compatible AgiBot/YAM LeRobot datasets must run this step before training.

EMBODIMENT_TAG=oxe_droid DATA_PATH=/path/to/droid_lerobot \
  bash examples/embodied/dreamzero/prepare_dreamzero_dataset.sh

EMBODIMENT_TAG=libero_sim DATA_PATH=/path/to/libero_lerobot \
  bash examples/embodied/dreamzero/prepare_dreamzero_dataset.sh

Use EMBODIMENT_TAG=agibot or EMBODIMENT_TAG=yam for the corresponding LeRobot datasets. The preparation step only updates meta/; it does not modify parquet files or images/videos.

Generate Cache

MODEL_NAME=dreamzero_full_wan22_5b GPUS_PER_NODE=8 \
  bash examples/embodied/dreamzero/precompute_dreamzero_cache.sh

MODEL_NAME=dreamzero_full_wan21_14b GPUS_PER_NODE=8 \
  bash examples/embodied/dreamzero/precompute_dreamzero_cache.sh

The generated cache defaults to $DREAMZERO_CACHE_ROOT/$MODEL_NAME.

Full Fine-Tuning

Omit CACHE_DIR to compute features online. When using a cache, keep SAMPLE_TRANSFORM_SEED consistent with cache generation.

CACHE_DIR=/path/to/dreamzero/cache/dreamzero_full_wan22_5b \
SAMPLE_TRANSFORM_SEED=0 \
  bash examples/embodied/dreamzero/run_dreamzero_wan22_5b_full_ddp_zero1_finetune.sh

CACHE_DIR=/path/to/dreamzero/cache/dreamzero_full_wan21_14b \
SAMPLE_TRANSFORM_SEED=0 \
  bash examples/embodied/dreamzero/run_dreamzero_wan21_14b_full_fsdp_finetune.sh