pcbnew100_flashwam_scratch — FlashWAM (M1 FusedKV, RoPE-fixed), from scratch, place_cube_new 100 traj

FlashWAM (M1 FusedKV, RoPE-fixed) action-video model trained from scratch (resume: null = no LIBERO init) on the 100-trajectory "pick and place new" dataset (place_cube_new_lerobot_v21, 100 episodes; task "place the cube in the bowl").

• From scratch: resume = None (scratch init: True).
• Model: FlashWAM (M1 FusedKV, RoPE-fixed); kv_source_mode=fused_kv, fixed_rope=true, decoupled=true.
• Recipe: num_epochs=30, save_every=2445, global batch 32, lr 1e-4, bf16.
• Status: Training completed.

Checkpoints (checkpoints/weights/)

file	size
step_002445.pt	10.13 GB
step_004890.pt	10.13 GB
step_007335.pt	10.13 GB
step_009780.pt	10.13 GB
step_012225.pt	10.13 GB
step_014670.pt	10.13 GB

Weights-only checkpoints. Pair each with THIS run's dataset_stats.json for action/proprio (de)normalization.

Other files

• config.yaml — full training/model config.
• dataset_stats.json — per-run normalization stats.