FasterWAM checkpoints

Checkpoint collection for four real-world tasks and four model families.

Layout: <task|joint>/<model>/<run_id>/checkpoints/.

• Tasks: fruit_pick, dish_utensil, place_cube, push_t.
• Models: fastwam, fasterwam (formerly FlashWAM), lingbot-va, pi0.5.
• joint is a top-level folder alongside the four tasks, for models trained on all tasks.
• Task-specific runs sit directly under <task>/<model>/.

Each run includes its original checkpoint format and inference/training metadata. Reserved folders contain a README; inspect run folders for available weights.

See CHECKPOINT_UPLOADS.md for the upload contract and commands, checkpoint_layout.json for the path schema, and hf_checkpoint_imports.json for pinned source revisions and file hashes. Imported run READMEs retain their original training and evaluation limitations; these historical runs are not asserted to use the current benchmark split.

Current joint FasterWAM — September 19, 2026

Job 4414, epoch 30 is the current joint FasterWAM checkpoint, trained on all four datasets with corrected place_cube crops (dataset revision 4ad42310b4408ff08370124e680e3a20ad267b1e). Native checkpoint: step_087930.pt; 8 H200 GPUs; 360 train / 40 held-out episodes. Inference weights and matching config, normalization, task embeddings, source and validation provenance are included. The run stopped at its requested time limit after saving epoch 30; it did not complete the planned 50 epochs.

The previous joint FasterWAM run, job 4247, is preserved under joint/fasterwam/old/. Its place_cube crops were invalid and it is superseded by job 4414.

Imported archives

Source	Run folder
SleepMastger/pusht-fastwam	push_t/fastwam/pusht-fastwam-222aa512
SleepMastger/dish-utensil-lingbot	dish_utensil/lingbot-va/dish-utensil-lingbot-ca6e4fe0
SleepMastger/fruit-picking-lingbot	fruit_pick/lingbot-va/fruit-picking-lingbot-0613ebe6
SleepMastger/fruit-picking-fastwam	fruit_pick/fastwam/fruit-picking-fastwam-ebb79ac0
SleepMastger/dish-utensil-fastwam-v2	dish_utensil/fastwam/dish-utensil-fastwam-v2-601d741a

Completed local training runs

Run	Native checkpoints	Final	Contents
fruit_pick/pi0.5/train90_job3977	5000, 10000, 15000, 16769	16769	params and normalization (inference)
place_cube/fastwam/train90_scratch_job4135	2620, 7860, 13100	13100	Three inference checkpoints and validation results
joint/fastwam/train90_joint_job4146	29310, 58620, 87930	87930	Three inference checkpoints and validation results
place_cube/lingbot-va/train90_base_job4139	300, 1500, 3000	3000	Three inference checkpoints and validation results
dish_utensil/pi0.5/train90_job4137	3557, 17789, 35579	35579	Three inference checkpoints and validation results
place_cube/pi0.5/train90_job4138	785, 3929, 7859	7859	Three inference checkpoints and validation results

Latest update: three checkpoints per completed run from September 15–16, 2026, spread across training and including the final checkpoint. See latest results for recorded metrics and evaluation limits.

The dataset repository is separate from this model repository. Original source licenses and terms continue to apply.