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_ema/checkpoints/last/pretrained_model",
+    "pretrained_path": "outputs/train/wam_aloha_cosine_sim/checkpoints/last/pretrained_model",
     "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 sha256:3b31fd18cc9306a2e680f9d23de445383e26b6e9cb4eaa02a9d81153c90f4856
+oid sha256:a83d3670113067ad49ff966d1775e3c0001f04db5ff300b9649e0c00a5e4400e
 size 346253912

train_config.json

@@ -154,7 +154,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/wam_aloha_ema/checkpoints/last/pretrained_model",
+        "pretrained_path": "outputs/train/wam_aloha_cosine_sim/checkpoints/last/pretrained_model",
         "n_obs_frames": 1,
         "obs_frame_skip": 5,
         "pred_frame_skip": 50,
@@ -194,7 +194,7 @@
         "scheduler_warmup_steps": 500,
         "scheduler_decay_steps": 5000
     },
-    "output_dir": "outputs/train/wam_aloha_ema",
+    "output_dir": "outputs/train/wam_aloha_cosine_sim",
     "job_name": "aloha_wam",
     "resume": true,
     "seed": 1000,
@@ -236,8 +236,8 @@
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
-        "notes": "EMA",
-        "run_id": "e9cpcjw0",
+        "notes": null,
+        "run_id": "x4vt5npi",
         "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_ema/checkpoints/last"
+    "checkpoint_path": "outputs/train/wam_aloha_cosine_sim/checkpoints/last"
 }