---
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.