FastWAM and LingBot-VA Purple Box Checkpoints
Public release of two checkpoints fine-tuned on
jokeru/pick_right_purple_box_and_place_it_in_the_middle.
Contents
| Path | Model | Training point | Notes |
|---|---|---|---|
fastwam/step_000500.pt |
memory FastWAM | step 500 | Full model checkpoint used by the local FastWAM runtime |
lingbot-va/transformer/ |
old Robbyant/lingbot-va |
step 250 | Fine-tuned transformer weights and transformer config |
The LingBot-VA optimizer/FSDP state (training_state.pt, about 40.5 GB) is
intentionally excluded. The uploaded transformer is sufficient for inference
and as a fine-tuning initialization, but still requires the upstream
LingBot-VA code and base Wan/VAE/text-encoder components.
Data and split
- Source dataset:
jokeru/pick_right_purple_box_and_place_it_in_the_middle - Training episodes: 18
- Held-out episodes: 4 and 15
- Task: pick the right purple box and place it in the middle
FastWAM
- Architecture: project memory FastWAM variant
- Input views:
global_primary,left_wrist,right_wrist - Video size: 384 x 320
- Action/proprio schema: canonical 80D with validity masks
- Context length: 128
- Memory history: long 8, mid 2, short 1
- Optimization: 8 GPUs, batch 8/GPU, global batch 64, bf16, 500 steps
- Initialization: official RoboTwin FastWAM MoT checkpoint plus the Helios memory patchers from memory checkpoint step 35000
The detailed transfer metadata is stored in
fastwam/initialization_report.json. Paths in that report have been reduced
to stable checkpoint identifiers.
LingBot-VA
- Architecture: old
Robbyant/lingbot-va - Optimization: 8 GPUs, batch 24/GPU, global batch 192, 250 steps
- Fixed latent window: 16 frames
- Action alignment: 16 source action steps per latent frame
- Training episodes: 18; held-out episodes: 4 and 15
- Input views:
right_eye,left_wrist,right_wrist - Compact action: right-arm joints 7D plus right gripper 1D, mapped into the model's 30D action schema
Held-out open-loop results
These numbers are diagnostics from eight generated cases, not closed-loop robot success rates.
| Model | Generated frames | Video PSNR | Video MAE | Action MAE |
|---|---|---|---|---|
| FastWAM | 101 | 16.727 | 0.0776 | 0.4830 |
| LingBot-VA | 141 | 16.540 | 0.0913 | 0.1146 |
Loading
Download the FastWAM checkpoint:
from huggingface_hub import hf_hub_download
checkpoint = hf_hub_download(
repo_id="PencilHu/FastWAM-LingBotVA-PurpleBox",
filename="fastwam/step_000500.pt",
)
Download the LingBot-VA transformer snapshot:
from huggingface_hub import snapshot_download
snapshot_download(
repo_id="PencilHu/FastWAM-LingBotVA-PurpleBox",
allow_patterns="lingbot-va/transformer/*",
)