fastwam-trex62-baseline

FastWAM T-Rex 62-D Baseline — Step 27,000

This repository contains the selected late-training FastWAM baseline checkpoint for the pick_fruits split of wushr-lance/VLA2Vec. It replaces the previously published step-4,500 early-training checkpoint.

Status: checkpoint at step 27,000 of the configured 30,000-step schedule (90.0%). This is a consolidated model-weight release for inference and checkpoint-stage comparisons. It has not yet received a T-Rex real-robot rollout evaluation, so the offline metrics below must not be interpreted as a robot success rate.

Checkpoint

Only consolidated model weights are published. DeepSpeed optimizer, scheduler, sampler, and random-state files are not included.

Model and data contract

• Architecture: Wan2.2-TI2V-5B video DiT plus ActionDiT in FastWAM's mixture-of-tokens setup.
• Dataset: 100 pick_fruits episodes, 92,594 frames, three RGB cameras.
• Visual canvas: 448 x 384, composed from one head view and two wrist views.
• Action chunk: 32 steps.
• Action/proprioception contract: T-Rex 62-D bimanual action space.
• 62-D layout: left arm 9 + left hand 22 + right arm 9 + right hand 22.
• Arm rotation representation: the first two columns of the rotation matrix.
• Dataset normalization: exact q01/q99 min-max statistics to [-1, 1].

The source dataset revision used by this run is e7bbf566b881414beaee90507888cb47d5d17b7f.

Step-27,000 offline snapshot

The repository includes artifacts/metrics_through_step_027000.jsonl, the run configuration captured from the training directory, and the exact normalization statistics. These are offline training/validation measurements, not real-robot rollout results.

Download and integrity check

huggingface-cli download YunzeLiu/fastwam-trex62-baseline \
  --local-dir fastwam_trex62_baseline
sha256sum fastwam_trex62_baseline/checkpoints/step_027000.pt

The expected digest is 9c79459497cfacd19e9e1037bb3d3293da2a6167e2667c61bf8c1c3130bba683.

Reproduction and loading

Use the configuration, normalization statistics, and metric history included in this repository. The matching implementation is available at yunzeliu/fastwam_icl. The checkpoint uses FastWAM's standard consolidated-weight loading path.

Limitations

• No T-Rex real-robot rollout evaluation is included in this release.
• The checkpoint contains model weights only, not resumable optimizer state.
• It is specialized to the fixed pick_fruits data, action, and camera contract above.

Licensing

The FastWAM integration code is MIT licensed. Base-model weights, third-party components, and the VLA2Vec dataset retain their respective licenses and terms.