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ehalicki
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lewam-so101-cube

Robotics
LeRobot
Safetensors
lewam
flow-matching
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Upload LeWAM weights

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Files changed (5) hide show
  1. README.md +26 -0
  2. config.json +67 -0
  3. model.safetensors +3 -0
  4. policy_postprocessor.json +31 -0
  5. policy_preprocessor.json +63 -0
README.md ADDED
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+ ---
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+ library_name: lerobot
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+ tags:
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+ - lewam
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+ - robotics
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+ - flow-matching
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+ ---
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+
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+ # LeWAM
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+
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+ Joint video-action flow-matching model for robot control.
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+
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+ - **Architecture**: 16-layer DiT, dim 768
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+ - **Context frames**: 8 @ 5 fps
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+ - **Future frames**: 8
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+ - **Action dim**: 6 @ 30 fps
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+ - **Cameras**: image1, image2
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+
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+ ## Usage
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+
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+ With [lerobot](https://github.com/huggingface/lerobot):
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+
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+ ```bash
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+ pip install "lerobot_policy_lewam @ git+https://github.com/ErykHalicki/lerobot_policy_lewam.git"
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+ lerobot-record --policy.type lewam --policy.pretrained_path ehalicki/lewam-so101-cube
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+ ```
config.json ADDED
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+ {
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+ "type": "lewam",
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+ "n_obs_steps": 1,
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+ "input_features": {
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+ "observation.images.image1": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ]
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+ },
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+ "observation.images.image2": {
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+ "type": "VISUAL",
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+ "shape": [
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+ 480,
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+ 640
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+ ]
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+ },
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+ "observation.state": {
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+ "type": "STATE",
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+ "shape": [
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+ 6
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+ ]
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+ }
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+ },
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+ "output_features": {
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+ "action": {
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+ "type": "ACTION",
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+ "shape": [
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+ 6
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+ ]
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+ }
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+ },
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+ "device": "cuda",
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+ "use_amp": false,
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+ "use_peft": false,
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+ "push_to_hub": true,
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+ "repo_id": null,
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+ "private": null,
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+ "tags": null,
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+ "license": null,
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+ "pretrained_path": null,
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+ "model_dim": 768,
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+ "depth": 16,
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+ "num_heads": 8,
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+ "mlp_ratio": 4.0,
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+ "vlm_model_id": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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+ "vlm_num_layers": 16,
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+ "norm_strategy": "q1_q99",
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+ "num_ode_steps": 2,
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+ "smooth_actions": true,
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+ "crop_size": 224,
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+ "fps": 5,
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+ "action_fps": 30,
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+ "num_context_frames": 16,
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+ "num_future_frames": 8,
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+ "n_action_steps": 72,
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+ "action_weight": 1.0,
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+ "lang_drop_rate": 0.1,
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+ "normalization_mapping": {
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+ "VISUAL": "IDENTITY",
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+ "STATE": "IDENTITY",
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+ "ACTION": "IDENTITY"
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+ }
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+ }
model.safetensors ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:50b4608309214f532c4ef7b06781da1d619b9ad3265de2c746824077543b71ce
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+ size 2735737488
policy_postprocessor.json ADDED
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+ {
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+ "name": "policy_postprocessor",
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+ "steps": [
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+ "registry_name": "unnormalizer_processor",
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+ "config": {
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+ "eps": 1e-08,
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+ {
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+ "registry_name": "device_processor",
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+ "config": {
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+ "device": "cpu",
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policy_preprocessor.json ADDED
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+ {
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+ "registry_name": "rename_observations_processor",
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+ "config": {
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+ "rename_map": {}
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+ },
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+ {
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+ "registry_name": "normalizer_processor",
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+ "registry_name": "to_batch_processor",
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+ "device": "cuda",
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+ "float_dtype": null
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+ }
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+ }
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+ ]
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+ }