Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: wam
 pipeline_tag: robotics
 tags:
+- wam
 - lerobot
 - robotics
-- wam
 ---
 
 # Model Card for wam

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/wam_aloha_latent/checkpoints/last/pretrained_model",
+    "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
     "time_between_frames": 50,
     "lag_offset": 3,
     "image_size": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:060c91732b9707b1ce03550e0cdd3a4638f08e9fd1942e03a5b58012fe82dc3f
+oid sha256:e5aa3ff41b61f60ea8880ad86c840224439938b3588e34f65c8aaf5e1e6dbccd
 size 303432392

train_config.json

@@ -154,7 +154,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/wam_aloha_latent/checkpoints/last/pretrained_model",
+        "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
         "time_between_frames": 50,
         "lag_offset": 3,
         "image_size": [
@@ -192,7 +192,7 @@
         "scheduler_warmup_steps": 500,
         "scheduler_decay_steps": 5000
     },
-    "output_dir": "outputs/train/wam_aloha_latent",
+    "output_dir": "outputs/train/wam_aloha_decoder",
     "job_name": "aloha_wam",
     "resume": true,
     "seed": 1000,
@@ -235,7 +235,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "cp1fqc4s",
+        "run_id": "2eptl0z3",
         "mode": null,
         "add_tags": true
     },
@@ -246,5 +246,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/wam_aloha_latent/checkpoints/last"
+    "checkpoint_path": "outputs/train/wam_aloha_decoder/checkpoints/last"
 }