metadata
license: other
tags:
- robotics
- fastwam
- flashwam
- place-cube
pcbnew100_flashwam_scratch — FlashWAM (M1 FusedKV, RoPE-fixed), from scratch, place_cube_new 100 traj
FlashWAM (M1 FusedKV, RoPE-fixed) action-video model trained from scratch (resume: null = no LIBERO
init) on the 100-trajectory "pick and place new" dataset
(place_cube_new_lerobot_v21, 100 episodes; task "place the cube in the bowl").
- From scratch: resume =
None(scratch init: True). - Model: FlashWAM (M1 FusedKV, RoPE-fixed);
kv_source_mode=fused_kv,fixed_rope=true,decoupled=true. - Recipe: num_epochs=30, save_every=2445, global batch 32, lr 1e-4, bf16.
- Status: Training completed.
Checkpoints (checkpoints/weights/)
| file | size |
|---|---|
step_002445.pt |
10.13 GB |
step_004890.pt |
10.13 GB |
step_007335.pt |
10.13 GB |
step_009780.pt |
10.13 GB |
step_012225.pt |
10.13 GB |
step_014670.pt |
10.13 GB |
Weights-only checkpoints. Pair each with THIS run's dataset_stats.json for
action/proprio (de)normalization.
Other files
config.yaml— full training/model config.dataset_stats.json— per-run normalization stats.