Upload policy weights, train config and readme

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/wam_aloha_cosine_sim/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "n_obs_frames": 1,
     "obs_frame_skip": 5,
     "pred_frame_skip": 50,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a83d3670113067ad49ff966d1775e3c0001f04db5ff300b9649e0c00a5e4400e
-size 346253912
+oid sha256:07a988061168166bf852bd1d5cee2f6ac1f105abeca4424273d6c314138cde07
+size 346244600

train_config.json

@@ -154,7 +154,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/wam_aloha_cosine_sim/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "n_obs_frames": 1,
         "obs_frame_skip": 5,
         "pred_frame_skip": 50,
@@ -196,12 +196,12 @@
     },
     "output_dir": "outputs/train/wam_aloha_cosine_sim",
     "job_name": "aloha_wam",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
-    "num_workers": 4,
+    "num_workers": 8,
     "batch_size": 8,
-    "steps": 14000,
+    "steps": 10000,
     "eval_freq": 2000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -237,7 +237,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "x4vt5npi",
+        "run_id": "ll7e7h3r",
         "mode": null,
         "add_tags": true
     },
@@ -248,5 +248,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/wam_aloha_cosine_sim/checkpoints/last"
+    "checkpoint_path": null
 }