Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: wam
 pipeline_tag: robotics
 tags:
-- lerobot
 - wam
+- lerobot
 - robotics
 ---
 

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/wam_aloha/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "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:bc58cc9c9bc03158f45acf30cf29ac6fd5c40750c156cb3d29689c84a5dd48bf
-size 301890384
+oid sha256:ef25f86edeb8611f68cd91a6296b04d58f6eca7802d1d6722808f1f9986fcc7b
+size 300707632

train_config.json

@@ -154,7 +154,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/wam_aloha/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "n_obs_frames": 2,
         "obs_frame_skip": 5,
         "pred_frame_skip": 50,
@@ -193,14 +193,14 @@
         "scheduler_warmup_steps": 500,
         "scheduler_decay_steps": 5000
     },
-    "output_dir": "outputs/train/wam_aloha",
+    "output_dir": "outputs/train/wam_aloha_stateless",
     "job_name": "aloha_wam",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 12000,
+    "steps": 10000,
     "eval_freq": 2000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -236,7 +236,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "88n5wijf",
+        "run_id": "1dtfwenn",
         "mode": null,
         "add_tags": true
     },
@@ -247,5 +247,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/wam_aloha/checkpoints/last"
+    "checkpoint_path": null
 }