Upload policy weights, train config and readme

README.md

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

config.json

@@ -50,7 +50,7 @@
         "ACTION": "MEAN_STD"
     },
     "hidden_dim": 384,
-    "dim_feedforward": 1536,
+    "dim_feedforward": 512,
     "pre_norm": false,
     "dropout": 0.1,
     "vision_backbone": "resnet18",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a7542a91c9c99060bc32ae2655b9f795b2b85032bc14aa8c99731c9679d9065f
-size 346247768
+oid sha256:8eec35795d9fa50f81b652a000f95041db1cb410813e12eb21140e2036fee967
+size 333648456

train_config.json

@@ -171,7 +171,7 @@
             "ACTION": "MEAN_STD"
         },
         "hidden_dim": 384,
-        "dim_feedforward": 1536,
+        "dim_feedforward": 512,
         "pre_norm": false,
         "dropout": 0.1,
         "vision_backbone": "resnet18",
@@ -194,7 +194,7 @@
         "scheduler_warmup_steps": 500,
         "scheduler_decay_steps": 5000
     },
-    "output_dir": "outputs/train/wam_aloha_no_ema",
+    "output_dir": "outputs/train/wam_aloha",
     "job_name": "aloha_wam",
     "resume": false,
     "seed": 1000,
@@ -237,7 +237,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "4cqoh2a9",
+        "run_id": "iy84w0f0",
         "mode": null,
         "add_tags": true
     },