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gfm-cubes-22b
fecasado/gfm-cubes-22b
gfm-cubes-22b is a robotics model from fecasado. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.
Gaze Flow Matching policy trained on the Blueberry cubes-to-baskets task.
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Aug 7, 2026
- Updated
- Aug 7, 2026
- SHA
- c613d97a
Model card
From the Hugging Face model README
GFM Cubes 22b
Gaze Flow Matching policy trained on the Blueberry cubes-to-baskets task.
Architecture
- Policy: Gaze Flow Matching (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 |
| Steps | 100,000 |
| Batch size | 128 |
| Optimizer | AdamW (lr=1e-4, betas=0.95/0.999) |
Usage
from lerobot_policy_gaze_fm import GazeFMPolicy
policy = GazeFMPolicy.from_pretrained("fecasado/gfm-cubes-22b")
actions = policy.predict_action_chunk(observation_batch)
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Aug 7, 2026
- Updated
- Aug 7, 2026