| --- |
| license: other |
| tags: |
| - robotics |
| - fastwam |
| - flashwam |
| - place-cube |
| --- |
| |
| # pcbnew_flashwam_ft — FusedKV / RoPE-fixed FlashWAM, finetuned on place_cube_new (500 traj) |
|
|
| FlashWAM (`M1_FusedKV_RopeFixed`) action-video model, finetuned on the new |
| 500-episode **place-cube-in-bowl** dataset ("pick and place new"). |
|
|
| - **Model:** FasterWAM decoupled, `kv_source_mode: fused_kv`, `fixed_rope: true` |
| (video DiT Wan2.2-TI2V-5B backbone + 1-layer action DiT). |
| - **Data:** `place_cube_new_lerobot_v21` — 500 episodes / 51,579 frames, 10 Hz, |
| 2 cameras (base + wrist), 7-dim delta action, 8-dim proprio (real gripper widths). |
| Task string: *"place the cube in the bowl"*. |
| - **Init:** finetuned from LIBERO checkpoint |
| `M1_FusedKV_RopeFixed_step021700` (new fused_kv format). |
| - **Training:** 30 epochs / 48,360 steps, 4×H200, global batch 32, lr 1e-4 cosine, |
| bf16. Final `loss=0.0802`, `loss_action=0.0045`. |
|
|
| ## Checkpoints (`checkpoints/weights/`) |
|
|
| Weights-only checkpoints saved every 5 epochs: |
|
|
| | file | step | epoch | |
| |------|------|-------| |
| | `step_008060.pt` | 8,060 | 5 | |
| | `step_016120.pt` | 16,120 | 10 | |
| | `step_024180.pt` | 24,180 | 15 | |
| | `step_032240.pt` | 32,240 | 20 | |
| | `step_040300.pt` | 40,300 | 25 | |
| | `step_048360.pt` | 48,360 | 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. |
|
|
