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nepyope/
folding_fastwam

Name: folding_fastwam
Availability: InStock

lerobot-data-collection/level2_final_quality3_t_0_hil_data_c

2603.16666

apache-2.0

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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

bash

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

bash

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:

bibtex

@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}
}