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fastwam-ur3-drawer-basket
armanakbari4/fastwam-ur3-drawer-basket
fastwam-ur3-drawer-basket is a robotics model from armanakbari4. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as mit.
Fast-WAM (uncond) fine-tuned on EmbodyX/UR3 real-world tasks drawerlerobot + bluebasketlerobot (trained jointly), initialized weights-only from the RoboCOIN-pretrained Fast-WAM. 4000 steps, lr 1e-4 cosine, AdamW(0.9,0…
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Updated Aug 17, 2026
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At a glance
- Task
- Robotics
- License
- mit
- Access
- Public
- Created
- Aug 17, 2026
- Updated
- Aug 17, 2026
- SHA
- 5d8424bf
Base models
Model card
From the Hugging Face model README
FastWAM UR3 fine-tune (drawer + blue_basket, joint)
Fast-WAM (uncond) fine-tuned on EmbodyX/UR3 real-world tasks drawer_lerobot + blue_basket_lerobot (trained jointly), initialized weights-only from the RoboCOIN-pretrained Fast-WAM. 4000 steps, lr 1e-4 cosine, AdamW(0.9,0.95), bf16, 3 cams (top + L/R wrist, 240x320), 65-frame clips, action_video_freq_ratio 8, action&state dim 14. Tasks:
- drawer: "open the drawer, put the white box inside the drawer then close the drawer"
- blue_basket: "put the medicine then the measuring tape inside the blue basket"
NOTE: loss_action bottomed ~0.037 by step 4000 on only 200 episodes (overfitting) — pick the best checkpoint by REAL-ROBOT success rate, not the last step (2500/3000/3500 often generalize better than 4000). Files: ur3_drawer_basket_step{2500,3000,3500,4000}.pt (weights) + ur3_drawer_basket_dataset_stats.json (norm stats, required for inference).
- Task
- Robotics
- License
- mit
- Created
- Aug 17, 2026
- Updated
- Aug 17, 2026