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pcbnew200_flashwam_scratch

Robotics
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flashwam
place-cube
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  1. README.md +49 -0
  2. config.yaml +405 -0
  3. dataset_stats.json +1938 -0
README.md ADDED
@@ -0,0 +1,49 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ ---
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+ license: other
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+ tags:
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+ - robotics
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+ - fastwam
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+ - flashwam
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+ - place-cube
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+ ---
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+
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+ # pcbnew200_flashwam_scratch — FlashWAM (FusedKV / RoPE-fixed), from scratch, place_cube_new 200 traj
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+
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+ FlashWAM (`M1_FusedKV_RopeFixed`) action-video model trained **from scratch** (no
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+ LIBERO init) on the **200-trajectory** "pick and place new" dataset.
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+
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+ - **Model:** FasterWAM decoupled, `kv_source_mode: fused_kv`, `fixed_rope: true`
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+ (video DiT Wan2.2-TI2V-5B backbone + 1-layer action DiT).
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+ - **Init:** `resume: null` — trained **from scratch** (Wan2.2 base video expert,
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+ random action expert), NOT fine-tuned from a LIBERO checkpoint.
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+ - **Data:** `place_cube_new_lerobot_v21` — **200 episodes / 26,437 frames**, 10 Hz,
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+ 2 cameras (base + wrist), 7-dim delta action, 8-dim proprio (real gripper widths).
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+ Task: *"place the cube in the bowl"* (pick-and-place-new).
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+ - **Training:** 30 epochs / 24,810 steps, global batch 32, lr 1e-4 cosine, bf16.
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+ Completed cleanly (`max_steps reached`). Final `loss=0.0501`, `loss_action=0.0062`.
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+
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+ ## Checkpoints (`checkpoints/weights/`)
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+
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+ Weights-only checkpoints saved every 5 epochs:
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+
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+ | file | step | epoch |
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+ |------|------|-------|
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+ | `step_004135.pt` | 4,135 | 5 |
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+ | `step_008270.pt` | 8,270 | 10 |
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+ | `step_012405.pt` | 12,405 | 15 |
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+ | `step_016540.pt` | 16,540 | 20 |
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+ | `step_020675.pt` | 20,675 | 25 |
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+ | `step_024810.pt` | 24,810 | 30 (final) |
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+
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+ Each file is ~10.13 GB (bf16 full model: fused video + action experts).
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+
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+ ## Other files
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+
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+ - `config.yaml` — full training/model config for this run.
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+ - `dataset_stats.json` — per-run action/state normalization stats (min/max), needed
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+ at inference for de/normalization. Always pair a checkpoint with THIS run's stats.
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+
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+ ## Related
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+
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+ Companion run `SleepMastger/random_new` is the same FlashWAM architecture but
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+ **fine-tuned from LIBERO** on the **500-trajectory** place_cube_new dataset.
config.yaml ADDED
@@ -0,0 +1,405 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ output_dir: /shared_work/george/runs/pcbnew200_flashwam_scratch/2026-07-28_19-47-25
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+ batch_size: 8
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+ num_workers: 12
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+ lr_scheduler_type: cosine
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+ learning_rate: 0.0001
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+ num_epochs: 30
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+ max_steps: null
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+ log_every: 10
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+ save_every: 4135
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+ eval_every: 0
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+ eval_num_inference_steps: 10
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+ gradient_accumulation_steps: 1
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+ mixed_precision: bf16
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+ distributed_timeout_minutes: 60
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+ seed: 42
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+ max_grad_norm: 1.0
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+ weight_decay: 0.01
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+ resume: null
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+ freeze_video_backbone: false
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+ hf_upload:
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+ enabled: false
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+ dry_run: false
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+ fail_on_error: false
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+ script_path: huggingface/upload_to_hf.sh
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+ bucket_run_name: null
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+ wandb:
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+ enabled: true
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+ workspace: huaweiwam
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+ project: fastwam-realrobot
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+ name: pcbnew200_flashwam_scratch_2026-07-28_19-47-25
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+ group: null
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+ mode: online
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+ data:
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+ train:
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+ _target_: fastwam.datasets.lerobot.robot_video_dataset.RobotVideoDataset
36
+ dataset_dirs:
37
+ - /dev/shm/place_cube_new_lerobot_v21
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+ shape_meta:
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+ images:
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+ - key: image
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+ raw_shape:
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+ - 3
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+ - 256
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+ - 256
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+ shape:
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+ - 3
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+ - 224
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+ - 224
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+ - key: wrist_image
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+ raw_shape:
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+ - 3
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+ - 256
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+ - 256
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+ shape:
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+ - 3
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+ - 224
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+ - 224
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+ action:
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+ - key: default
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+ raw_shape: 7
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+ shape: 7
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+ state:
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+ - key: default
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+ raw_shape: 8
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+ shape: 8
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+ num_frames: 33
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+ global_sample_stride: 1
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+ action_video_freq_ratio: 4
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+ video_size:
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+ - 224
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+ - 448
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+ camera_key: null
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+ val_set_proportion: 0.0
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+ is_training_set: true
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+ episode_indices:
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+ - 0
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+ - 1
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+ - 2
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+ skip_padding_as_possible: false
277
+ concat_multi_camera: horizontal
278
+ processor:
279
+ _target_: fastwam.datasets.lerobot.processors.fastwam_processor.FastWAMProcessor
280
+ shape_meta:
281
+ images:
282
+ - key: image
283
+ raw_shape:
284
+ - 3
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+ - 256
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+ - 256
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+ shape:
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+ - 3
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+ - 224
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+ - 224
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+ - key: wrist_image
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+ raw_shape:
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+ - 3
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+ - 256
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+ - 256
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+ shape:
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+ - 3
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+ - 224
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+ - 224
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+ action:
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+ - key: default
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+ raw_shape: 7
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+ shape: 7
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+ state:
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+ - key: default
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+ raw_shape: 8
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+ shape: 8
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+ num_obs_steps: 33
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+ num_output_cameras: 2
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+ action_output_dim: 7
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+ proprio_output_dim: 8
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+ delta_action_dim_mask:
313
+ default:
314
+ - true
315
+ - true
316
+ - true
317
+ - true
318
+ - true
319
+ - true
320
+ - false
321
+ action_state_transforms: null
322
+ use_stepwise_action_norm: false
323
+ norm_default_mode: min/max
324
+ norm_exception_mode: null
325
+ action_state_merger:
326
+ _target_: fastwam.datasets.lerobot.transforms.action_state_merger.ConcatLeftAlign
327
+ train_transforms:
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+ - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
329
+ - _target_: torchvision.transforms.Resize
330
+ size:
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+ - 224
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+ - 224
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+ val_transforms:
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+ - _target_: fastwam.datasets.lerobot.transforms.image.ToTensor
335
+ - _target_: torchvision.transforms.Resize
336
+ size:
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+ - 224
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+ - 224
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+ text_embedding_cache_dir: /dev/shm/place_cube_text_embeds_cache
340
+ context_len: 128
341
+ model:
342
+ _target_: fastwam.models.wan22.fasterwam_decoupled.create_fasterwam_decoupled
343
+ model_id: Wan-AI/Wan2.2-TI2V-5B
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+ tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B
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+ tokenizer_max_len: 128
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+ load_text_encoder: false
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+ proprio_dim: 8
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+ redirect_common_files: true
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+ mot_checkpoint_mixed_attn: false
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+ action_dit_pretrained_path: null
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+ skip_dit_load_from_pretrain: false
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+ decoupled: true
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+ kv_source_mode: fused_kv
354
+ fusion_hidden_dim: 64
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+ fusion_use_norm: true
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+ fixed_rope: true
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+ video_dit_config:
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+ has_image_input: false
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+ patch_size:
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+ - 1
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+ - 2
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+ - 2
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+ in_dim: 48
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+ hidden_dim: 3072
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+ ffn_dim: 14336
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+ freq_dim: 256
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+ text_dim: 4096
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+ out_dim: 48
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+ num_heads: 24
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+ attn_head_dim: 128
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+ num_layers: 30
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+ eps: 1.0e-06
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+ seperated_timestep: true
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+ require_clip_embedding: false
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+ require_vae_embedding: false
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+ fuse_vae_embedding_in_latents: true
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+ use_gradient_checkpointing: false
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+ video_attention_mask_mode: first_frame_causal
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+ action_conditioned: false
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+ action_dim: 7
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+ action_group_causal_mask_mode: group_diagonal
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+ action_dit_config:
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+ action_dim: 7
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+ hidden_dim: 1024
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+ ffn_dim: 4096
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+ num_heads: 24
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+ attn_head_dim: 128
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+ num_layers: 1
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+ layer_selected: null
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+ text_dim: 4096
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+ freq_dim: 256
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+ eps: 1.0e-06
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+ use_gradient_checkpointing: false
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+ action_text_cross_attn: true
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+ video_scheduler:
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+ train_shift: 5.0
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+ infer_shift: 5.0
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+ num_train_timesteps: 1000
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+ action_scheduler:
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+ train_shift: 5.0
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+ infer_shift: 5.0
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+ num_train_timesteps: 1000
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+ loss:
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+ lambda_video: 1.0
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+ lambda_action: 1.0
dataset_stats.json ADDED
@@ -0,0 +1,1938 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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