nepyope/folding_fastwam

Model Card for fastwam

FastWAM is a World Action Model policy that keeps video world-modeling during training but predicts actions directly at inference time, initializing its visual world-model components from the Wan2.2 video-diffusion stack.

This policy has been trained and pushed to the Hub using LeRobot.

Learn how to train and run it in the LeRobot fastwam guide, or browse the full documentation.

---

Model Details

• License: apache-2.0
• Robot type: openarms_follower
• Cameras: left_wrist, right_wrist, base

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
observation.images.base	VISUAL	(3, 224, 224)
observation.images.left_wrist	VISUAL	(3, 224, 224)
observation.images.right_wrist	VISUAL	(3, 224, 224)
observation.state	STATE	(16,)

Outputs

Feature	Type	Shape
action	ACTION	(16,)

Training Dataset

• Repository: lerobot-data-collection/level2_final_quality3_t_0_hil_data_c
• Episodes: 1319
• Frames: 3414338
• Frame rate: 30 FPS
• Task(s): "Fold the T-shirt properly"

Training Configuration

Setting	Value
Training steps	66686
Batch size	16
Optimizer	adamw
Learning rate	0.0001
Seed	1000
LeRobot version	0.6.1

---

How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

• Install LeRobot — set up the lerobot package.
• Hardware setup — assemble, wire, and calibrate your robot and cameras.
• Record data & train a policy — the end-to-end imitation-learning walkthrough.
• CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

lerobot-rollout \
  --strategy.type=base \
  --robot.type=openarms_follower \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=nepyope/folding_fastwam \
  --task="Fold the T-shirt properly" \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.type=fastwam \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

---

Evaluation

No evaluation results have been provided for this policy yet.

---

Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}