FastWAM (full 6.0B) finetuned from the LIBERO release checkpoint on the first 100 trajectories of place_cube_in_bowl new (Franka, 10 Hz, 2-cam). 30 epochs, global batch 32 (4 GPU x 8). Slurm job 902 on gpu-h200-103 (weights warm-started from job 853's step_002445 after a node /dev/shm failure cut 853 short).

Direct FT-vs-scratch comparison with pcbnew100_fastwam_scratch.

Checkpoints in checkpoints/weights/ at steps 2445/4890/7335/9780/12225/14670 (every 5 epochs; 489 opt-steps/epoch).

wandb: huaweiwam/fastwam-realrobot/runs/tm8ipmkq