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sleepmastergx/deploy deployment
code (fetch_weights.py downloads gen-2 from here; gen-1 and the shared base
pieces — VAE, ActionDiT, T5 text-embed cache — live in SleepMastger/deploy).
Layout: runs/<run>/<timestamp>/checkpoints/weights/step_*.pt, each run with
its own dataset_stats.json (min/max normalization) and resolved training
config.yaml. ⚠️ Always pair a checkpoint with the dataset_stats.json from
the SAME run — foreign stats mis-scale actions.deploy_v2_new/state[6:8] = [w/2, -w/2] (meters). 30 epochs, global
batch 32, lr 1e-4 cosine. Five checkpoints per run, named by true epoch
(saved every 500 steps at 265 steps/epoch, so most land mid-epoch):
epoch_05.7.pt / epoch_09.4.pt / epoch_15.1.pt / epoch_20.8.pt /
epoch_30.0.pt. (The last three also exist under their original step names
step_002500/005500/007950.) Training loss ≠ robot success in this
103-episode overfitting regime, so A/B the earlier epochs too.| Run | Architecture | Init | Final action loss |
|---|---|---|---|
runs/lift_new_flashwam_scratch/ | FlashWAM M1_FusedKV_RopeFixed (1-layer action expert, fused_kv, fixed RoPE) | Wan2.2-TI2V-5B base + random action expert | 0.0155 |
runs/lift_new_flashwam_ft/ | same | LIBERO M1_FusedKV_RopeFixed step_021700 (format-converted) | 0.0061 |
runs/lift_new_fastwam_scratch/ | Original FastWAM (30/30 MoT, 6.0B) | Wan2.2 base + ActionDiT interp init | 0.0061 |
runs/lift_new_fastwam_ft/ | same | LIBERO release checkpoint | 0.0055 |
8d9e040 (2026-07-08 fused_kv reparameterization) — the vendored copy in the
GitHub repo qualifies.video_expert/ — Wan video DiT before vs after LIBERO trainingvideo_expert/README.md
for format details):wan22_base_before_libero/ — pristine Wan2.2-TI2V-5B DiT (before any robot
training; fp32 safetensors, verbatim from Wan-AI/Wan2.2-TI2V-5B)wan_video_expert_after_libero_fastwam_release.pt — after LIBERO training,
original FastWAM release lineage (bf16, extracted from the MoT checkpoint)wan_video_expert_after_libero_flashwam_fusedkv.pt — after LIBERO training,
FlashWAM M1_FusedKV_RopeFixed lineage (bf16)Wan-AI/Wan2.2-TI2V-5B. VAE / ActionDiT / T5 cache: in
SleepMastger/deploy (fetch_weights.py assembles everything).huaweiwam/fastwam-realrobot (runs fpl22etl,
xnndko8y, 1ju16696, k42n0ba4).