| --- |
| 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. |
|
|
