---
license: apache-2.0
tags:
- lerobot
- robotics
- flow-matching
- gaze
- blueberry
library_name: lerobot
pipeline_tag: robotics
datasets: fecasado/Ncubes-to-Nbaskets-320x240
model_name: gaze_flow_matching
---

# GFM Cubes 22b

Gaze Flow Matching policy trained on the Blueberry cubes-to-baskets task.

## Architecture

- **Policy**: [Gaze Flow Matching](https://github.com/your-org/lerobot-ros-bridge) (DiT + Q-Former)
- **Backbone**: ResNet18
- **Gaze mode**: Heatmap (Dim 2.2) with spatial attention modulation
- **Cross-camera**: FPV → left/right gaze projection
- **Horizon**: 16, sampling steps: 8
- **Dim model**: 512

## Training

| Parameter | Value |
|---|---|
| Dataset | [fecasado/Ncubes-to-Nbaskets-320x240](https://huggingface.co/datasets/fecasado/Ncubes-to-Nbaskets-320x240) |
| Steps | 100,000 |
| Batch size | 128 |
| Optimizer | AdamW (lr=1e-4, betas=0.95/0.999) |

## Usage

```python
from lerobot_policy_gaze_fm import GazeFMPolicy

policy = GazeFMPolicy.from_pretrained("fecasado/gfm-cubes-22b")
actions = policy.predict_action_chunk(observation_batch)