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": null,
+    "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
     "time_between_frames": 50,
     "lag_offset": 3,
     "image_size": [
@@ -55,7 +55,7 @@
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "use_pretrained_backbone": true,
     "freeze_backbone": false,
-    "latent_dim": 32,
+    "latent_dim": 64,
     "n_vae_encoder_layers": 4,
     "action_head_num_layers": 4,
     "action_head_num_heads": 8,
@@ -64,15 +64,6 @@
     "predictor_num_heads": 8,
     "predictor_dropout": 0.1,
     "predictor_max_tokens": 1024,
-    "decoder_attention_blur_kernel": 7,
-    "decoder_use_attention_head": true,
-    "decoder_attention_gain_init": 1.0,
-    "decoder_attention_supervision_weight": 0.2,
-    "decoder_attention_mass_weight": 0.05,
-    "decoder_attention_pos_weight": 4.0,
-    "decoder_attention_min_mass": 0.03,
-    "decoder_attention_floor_weight": 0.1,
-    "decoder_attention_floor": 0.02,
     "optimizer_lr": 5e-05,
     "optimizer_weight_decay": 0.01,
     "optimizer_grad_clip_norm": 1.0,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dad9c6fb489c6c30e282aefb65e674645856c4264e5e9a1b24c527b7faf1bb85
-size 301229464
+oid sha256:f54c122145030f5be63ef711d1f22fef5de14381c3c78f3f2ab31719c99828cc
+size 301331136

train_config.json

@@ -154,7 +154,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
         "time_between_frames": 50,
         "lag_offset": 3,
         "image_size": [
@@ -176,7 +176,7 @@
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "use_pretrained_backbone": true,
         "freeze_backbone": false,
-        "latent_dim": 32,
+        "latent_dim": 64,
         "n_vae_encoder_layers": 4,
         "action_head_num_layers": 4,
         "action_head_num_heads": 8,
@@ -185,15 +185,6 @@
         "predictor_num_heads": 8,
         "predictor_dropout": 0.1,
         "predictor_max_tokens": 1024,
-        "decoder_attention_blur_kernel": 7,
-        "decoder_use_attention_head": true,
-        "decoder_attention_gain_init": 1.0,
-        "decoder_attention_supervision_weight": 0.2,
-        "decoder_attention_mass_weight": 0.05,
-        "decoder_attention_pos_weight": 4.0,
-        "decoder_attention_min_mass": 0.03,
-        "decoder_attention_floor_weight": 0.1,
-        "decoder_attention_floor": 0.02,
         "optimizer_lr": 5e-05,
         "optimizer_weight_decay": 0.01,
         "optimizer_grad_clip_norm": 1.0,
@@ -203,7 +194,7 @@
     },
     "output_dir": "outputs/train/wam_aloha_decoder",
     "job_name": "aloha_wam",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
@@ -244,7 +235,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "lst682vd",
+        "run_id": "5xztxc64",
         "mode": null,
         "add_tags": true
     },
@@ -255,5 +246,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/wam_aloha_decoder/checkpoints/last"
 }