Upload policy weights, train config and readme

README.md

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

config.json

@@ -34,7 +34,7 @@
     "tags": null,
     "license": null,
     "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
-    "time_between_frames": 50,
+    "time_between_frames": 25,
     "lag_offset": 3,
     "image_size": [
         256,
@@ -55,14 +55,14 @@
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "use_pretrained_backbone": true,
     "freeze_backbone": false,
-    "latent_dim": 64,
+    "latent_dim": 32,
     "n_vae_encoder_layers": 4,
     "action_head_num_layers": 4,
     "action_head_num_heads": 8,
     "action_head_dropout": 0.1,
-    "predictor_num_layers": 6,
+    "predictor_num_layers": 8,
     "predictor_num_heads": 8,
-    "predictor_dropout": 0.1,
+    "predictor_dropout": 0.05,
     "predictor_max_tokens": 1024,
     "optimizer_lr": 5e-05,
     "optimizer_weight_decay": 0.01,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:895312746da5cfe45107082b9e2685584b3ef9ad7b194e081d4235803715ab85
-size 303432392
+oid sha256:4c3fceec6c954c2139c883af085c71884ba334b7e5f5f684fd2e6878e3a92fd3
+size 370502980

train_config.json

@@ -155,7 +155,7 @@
         "tags": null,
         "license": null,
         "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
-        "time_between_frames": 50,
+        "time_between_frames": 25,
         "lag_offset": 3,
         "image_size": [
             256,
@@ -176,14 +176,14 @@
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "use_pretrained_backbone": true,
         "freeze_backbone": false,
-        "latent_dim": 64,
+        "latent_dim": 32,
         "n_vae_encoder_layers": 4,
         "action_head_num_layers": 4,
         "action_head_num_heads": 8,
         "action_head_dropout": 0.1,
-        "predictor_num_layers": 6,
+        "predictor_num_layers": 8,
         "predictor_num_heads": 8,
-        "predictor_dropout": 0.1,
+        "predictor_dropout": 0.05,
         "predictor_max_tokens": 1024,
         "optimizer_lr": 5e-05,
         "optimizer_weight_decay": 0.01,
@@ -199,7 +199,7 @@
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 28000,
+    "steps": 8000,
     "eval_freq": 2000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -235,7 +235,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "2eptl0z3",
+        "run_id": "fbz99gme",
         "mode": null,
         "add_tags": true
     },