---
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.