| --- |
| license: other |
| tags: |
| - robotics |
| - fastwam |
| - flashwam |
| - place-cube |
| --- |
| |
| # pcbnew200_flashwam_scratch — FlashWAM (FusedKV / RoPE-fixed), from scratch, place_cube_new 200 traj |
|
|
| FlashWAM (`M1_FusedKV_RopeFixed`) action-video model trained **from scratch** (no |
| LIBERO init) on the **200-trajectory** "pick and place new" dataset. |
|
|
| - **Model:** FasterWAM decoupled, `kv_source_mode: fused_kv`, `fixed_rope: true` |
| (video DiT Wan2.2-TI2V-5B backbone + 1-layer action DiT). |
| - **Init:** `resume: null` — trained **from scratch** (Wan2.2 base video expert, |
| random action expert), NOT fine-tuned from a LIBERO checkpoint. |
| - **Data:** `place_cube_new_lerobot_v21` — **200 episodes / 26,437 frames**, 10 Hz, |
| 2 cameras (base + wrist), 7-dim delta action, 8-dim proprio (real gripper widths). |
| Task: *"place the cube in the bowl"* (pick-and-place-new). |
| - **Training:** 30 epochs / 24,810 steps, global batch 32, lr 1e-4 cosine, bf16. |
| Completed cleanly (`max_steps reached`). Final `loss=0.0501`, `loss_action=0.0062`. |
|
|
| ## Checkpoints (`checkpoints/weights/`) |
|
|
| Weights-only checkpoints saved every 5 epochs: |
|
|
| | file | step | epoch | |
| |------|------|-------| |
| | `step_004135.pt` | 4,135 | 5 | |
| | `step_008270.pt` | 8,270 | 10 | |
| | `step_012405.pt` | 12,405 | 15 | |
| | `step_016540.pt` | 16,540 | 20 | |
| | `step_020675.pt` | 20,675 | 25 | |
| | `step_024810.pt` | 24,810 | 30 (final) | |
|
|
| Each file is ~10.13 GB (bf16 full model: fused video + action experts). |
|
|
| ## Other files |
|
|
| - `config.yaml` — full training/model config for this run. |
| - `dataset_stats.json` — per-run action/state normalization stats (min/max), needed |
| at inference for de/normalization. Always pair a checkpoint with THIS run's stats. |
|
|
| ## Related |
|
|
| Companion run `SleepMastger/random_new` is the same FlashWAM architecture but |
| **fine-tuned from LIBERO** on the **500-trajectory** place_cube_new dataset. |
|
|
