Does Fast-WAM run on SO-101?
partial
Scope: Upstream docs only give a generic real-robot rollout command for so101_follower; no SO-101 training recipe, real-robot checkpoint or result is published. The only SO-101 checkpoint found is trained on simulated SO-101 data.
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | partial | Simulated SO-101 (MuJoCo) data only. | ev-hub-alexhegit-fastwam-so101-sim |
| Real-robot inference | partial | Command only, with a placeholder checkpoint. | ev-lerobot-fastwam-doc |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Evidence 2 sources; the cell shows the highest tier
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot v0.6.1 FastWAM guide gives a real-robot rollout command for so101_follower with a placeholder checkpoint (your-org/fastwam-real-robot); no SO-101 checkpoint, training recipe or result is published.
“For real-robot rollout, use the same checkpoint path: ```bash lerobot-rollout \ --robot.type=so101_follower \”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/fastwam.mdx - T3 · community reportedhub-checkpointsource 2026-09-17verified 2026-10-24 (1d ago)
config.json type=fastwam; train_config.json dataset.repo_id=alexhegit/so101-simstudio-lab01-pnp, whose meta/info.json robot_type=so101_mujoco (50 episodes, simulated SO-101).
https://huggingface.co/alexhegit/so101-simstudio-lab01-pnp-fastwam
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- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij