Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: wam
 pipeline_tag: robotics
 tags:
-- lerobot
 - wam
 - robotics
+- lerobot
 ---
 
 # Model Card for wam

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/wam_aloha_single_obs_aw1/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "n_obs_frames": 1,
     "obs_frame_skip": 5,
     "pred_frame_skip": 50,
@@ -57,6 +57,7 @@
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "use_pretrained_backbone": true,
     "freeze_backbone": false,
+    "ema_decay": 0.99,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
     "vae_num_heads": 8,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:13255821e5570ba8f063069725c799df6e98595c4e3c891884e855451d51a1e4
-size 300706096
+oid sha256:6a3b9d8f49728576e4ac0421f39fcfd15d4e7f955b46cc94c2dac624a3cd6c92
+size 346253912

train_config.json

@@ -154,7 +154,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/wam_aloha_single_obs_aw1/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "n_obs_frames": 1,
         "obs_frame_skip": 5,
         "pred_frame_skip": 50,
@@ -178,6 +178,7 @@
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "use_pretrained_backbone": true,
         "freeze_backbone": false,
+        "ema_decay": 0.99,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
         "vae_num_heads": 8,
@@ -193,14 +194,14 @@
         "scheduler_warmup_steps": 500,
         "scheduler_decay_steps": 5000
     },
-    "output_dir": "outputs/train/wam_aloha_single_obs_aw1",
+    "output_dir": "outputs/train/wam_aloha_ema",
     "job_name": "aloha_wam",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 14000,
+    "steps": 10000,
     "eval_freq": 2000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -235,8 +236,8 @@
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
-        "notes": null,
-        "run_id": "1xn0rhtr",
+        "notes": "EMA",
+        "run_id": "e9cpcjw0",
         "mode": null,
         "add_tags": true
     },
@@ -247,5 +248,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/wam_aloha_single_obs_aw1/checkpoints/last"
+    "checkpoint_path": null
 }