Upload policy weights, train config and readme

README.md

@@ -1,5 +1,5 @@
 ---
-datasets: lerobot/aloha_sim_transfer_cube_human
+datasets: maximellerbach/pickandplace
 library_name: lerobot
 license: apache-2.0
 model_name: wam

config.json

@@ -2,26 +2,26 @@
     "type": "wam",
     "n_obs_steps": 1,
     "input_features": {
-        "observation.images.top": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
             "type": "VISUAL",
             "shape": [
                 3,
                 480,
                 640
             ]
-        },
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                14
-            ]
         }
     },
     "output_features": {
         "action": {
             "type": "ACTION",
             "shape": [
-                14
+                6
             ]
         }
     },
@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/wam_aloha_transfer/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "time_between_frames": 30,
     "lag_offset": 3,
     "image_size": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9b57b85e4c428bbe41fcee74b77a3971d811dafe6f6cb687f8cc2fb16652ef66
-size 292788316
+oid sha256:d3cf02055f2b698e414b8ff9d68ebf05529de9b4c774d9f1e02b22b3b1d60301
+size 291755156

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "lerobot/aloha_sim_transfer_cube_human",
+        "repo_id": "maximellerbach/pickandplace",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -79,70 +79,31 @@
         "video_backend": "torchcodec",
         "streaming": false
     },
-    "env": {
-        "type": "aloha",
-        "task": "AlohaTransferCube-v0",
-        "fps": 50,
-        "features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    14
-                ]
-            },
-            "agent_pos": {
-                "type": "STATE",
-                "shape": [
-                    14
-                ]
-            },
-            "pixels/top": {
-                "type": "VISUAL",
-                "shape": [
-                    480,
-                    640,
-                    3
-                ]
-            }
-        },
-        "features_map": {
-            "action": "action",
-            "agent_pos": "observation.state",
-            "top": "observation.image.top",
-            "pixels/top": "observation.images.top"
-        },
-        "max_parallel_tasks": 1,
-        "disable_env_checker": true,
-        "episode_length": 400,
-        "obs_type": "pixels_agent_pos",
-        "observation_height": 480,
-        "observation_width": 640,
-        "render_mode": "rgb_array"
-    },
+    "env": null,
     "policy": {
         "type": "wam",
         "n_obs_steps": 1,
         "input_features": {
-            "observation.images.top": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
                 "type": "VISUAL",
                 "shape": [
                     3,
                     480,
                     640
                 ]
-            },
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    14
-                ]
             }
         },
         "output_features": {
             "action": {
                 "type": "ACTION",
                 "shape": [
-                    14
+                    6
                 ]
             }
         },
@@ -154,7 +115,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/wam_aloha_transfer/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "time_between_frames": 30,
         "lag_offset": 3,
         "image_size": [
@@ -193,15 +154,15 @@
         "scheduler_warmup_steps": 500,
         "scheduler_decay_steps": 5000
     },
-    "output_dir": "outputs/train/wam_aloha_transfer",
-    "job_name": "aloha_wam",
-    "resume": true,
+    "output_dir": "outputs/train/wam_pickandplace",
+    "job_name": "wam",
+    "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
     "steps": 8000,
-    "eval_freq": 2000,
+    "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
@@ -226,8 +187,8 @@
         "decay_lr": 1e-05
     },
     "eval": {
-        "n_episodes": 4,
-        "batch_size": 4,
+        "n_episodes": 50,
+        "batch_size": 50,
         "use_async_envs": false
     },
     "wandb": {
@@ -236,7 +197,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "9xrdavcl",
+        "run_id": "ftbz9kk0",
         "mode": null,
         "add_tags": true
     },
@@ -247,5 +208,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/wam_aloha_transfer/checkpoints/last"
+    "checkpoint_path": null
 }