Upload policy weights, train config and readme

README.md

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

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/wam_aloha/checkpoints/last/pretrained_model",
     "n_obs_frames": 2,
     "obs_frame_skip": 5,
     "pred_frame_skip": 50,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:87e737f914619f4c71a995e5cae18817eda35b070e563ca423328658272a4fd9
+oid sha256:fc46e834d56fd4ccdc811aeb0c0e0db3787c48ff7ff18e6fd1d4147ff905c9ab
 size 301890384

train_config.json

@@ -154,7 +154,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/wam_aloha/checkpoints/last/pretrained_model",
         "n_obs_frames": 2,
         "obs_frame_skip": 5,
         "pred_frame_skip": 50,
@@ -195,12 +195,12 @@
     },
     "output_dir": "outputs/train/wam_aloha",
     "job_name": "aloha_wam",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 6000,
+    "steps": 8000,
     "eval_freq": 2000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -247,5 +247,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/wam_aloha/checkpoints/last"
 }