Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: wam
 pipeline_tag: robotics
 tags:
 - robotics
-- wam
 - lerobot
+- wam
 ---
 
 # Model Card for wam

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "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:a889362ede7648f166a87269c363dd23604c58d355aa190ed3f01f6e223ea92d
-size 368842908
+oid sha256:d16943bb7bc7bbcd9c4eecb53197798663d994d49f7c5b6f8e1bac546377f957
+size 373220428

train_config.json

@@ -154,7 +154,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "time_between_frames": 50,
         "lag_offset": 3,
         "image_size": [
@@ -192,14 +192,14 @@
         "scheduler_warmup_steps": 500,
         "scheduler_decay_steps": 5000
     },
-    "output_dir": "outputs/train/wam_aloha_decoder",
+    "output_dir": "outputs/train/wam_aloha_decode_test",
     "job_name": "aloha_wam",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 16000,
+    "steps": 8000,
     "eval_freq": 2000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -235,7 +235,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "j86qnc81",
+        "run_id": "5j96b0yq",
         "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_decoder/checkpoints/last"
+    "checkpoint_path": null
 }