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pcbnew100_flashwam_ft

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pcbnew100_flashwam_ft

FlashWAM (M1, fused-KV, RoPE-fixed) finetuned from the LIBERO checkpoint on the first 100 trajectories of the place_cube_in_bowl new dataset (Franka, 10 Hz, 2-cam). 30 epochs, global batch 32 (2 GPU x 16). Slurm job 852 on gpu-h200-103.

Direct FT-vs-scratch comparison with pcbnew100_flashwam_scratch.

Checkpoints in checkpoints/weights/ at steps 2445/4890/7335/9780/12225/14670 (every 5 epochs; 489 opt-steps/epoch).

wandb: huaweiwam/fastwam-realrobot/runs/d7291eli