Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: wam
 pipeline_tag: robotics
 tags:
 - lerobot
-- wam
 - robotics
+- wam
 ---
 
 # Model Card for wam

config.json

@@ -34,7 +34,7 @@
     "tags": null,
     "license": null,
     "pretrained_path": "outputs/train/wam_aloha_transfer/checkpoints/last/pretrained_model",
-    "time_between_frames": 10,
+    "time_between_frames": 30,
     "lag_offset": 3,
     "image_size": [
         256,
@@ -57,7 +57,6 @@
     "freeze_backbone": false,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
-    "kl_weight": 1.0,
     "action_head_num_layers": 4,
     "action_head_num_heads": 8,
     "action_head_dropout": 0.1,
@@ -68,6 +67,7 @@
     "predictor_max_tokens": 1024,
     "optimizer_lr": 5e-05,
     "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
     "scheduler_decay_lr": 1e-05,
     "scheduler_warmup_steps": 500,
     "scheduler_decay_steps": 5000

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3e77e4ae2a71a2d0dd9cb8898c7141443b3b5c7d0d18ed63ae19d1b91a816cac
-size 292783912
+oid sha256:9b57b85e4c428bbe41fcee74b77a3971d811dafe6f6cb687f8cc2fb16652ef66
+size 292788316

train_config.json

@@ -155,7 +155,7 @@
         "tags": null,
         "license": null,
         "pretrained_path": "outputs/train/wam_aloha_transfer/checkpoints/last/pretrained_model",
-        "time_between_frames": 10,
+        "time_between_frames": 30,
         "lag_offset": 3,
         "image_size": [
             256,
@@ -178,7 +178,6 @@
         "freeze_backbone": false,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
-        "kl_weight": 1.0,
         "action_head_num_layers": 4,
         "action_head_num_heads": 8,
         "action_head_dropout": 0.1,
@@ -189,6 +188,7 @@
         "predictor_max_tokens": 1024,
         "optimizer_lr": 5e-05,
         "optimizer_weight_decay": 0.01,
+        "optimizer_grad_clip_norm": 1.0,
         "scheduler_decay_lr": 1e-05,
         "scheduler_warmup_steps": 500,
         "scheduler_decay_steps": 5000
@@ -200,7 +200,7 @@
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 10000,
+    "steps": 8000,
     "eval_freq": 2000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -211,7 +211,7 @@
         "type": "adamw",
         "lr": 5e-05,
         "weight_decay": 0.01,
-        "grad_clip_norm": 10.0,
+        "grad_clip_norm": 1.0,
         "betas": [
             0.9,
             0.999
@@ -236,7 +236,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "zlqdkrri",
+        "run_id": "9xrdavcl",
         "mode": null,
         "add_tags": true
     },