Upload policy weights, train config and readme

README.md

@@ -0,0 +1,62 @@
+---
+datasets: maximellerbach/pickandplace
+library_name: lerobot
+license: apache-2.0
+model_name: wam
+pipeline_tag: robotics
+tags:
+- lerobot
+- wam
+- robotics
+---
+
+# Model Card for wam
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+_Model type not recognized — please update this template._
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/wam_pickandplace/checkpoints/last/pretrained_model",
     "time_between_frames": 10,
     "lag_offset": 3,
     "image_size": [

model.safetensors

@@ -1,3 +1,3 @@
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+size 862522324

train_config.json

@@ -115,7 +115,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/wam_pickandplace/checkpoints/last/pretrained_model",
         "time_between_frames": 10,
         "lag_offset": 3,
         "image_size": [
@@ -146,12 +146,12 @@
     },
     "output_dir": "outputs/train/wam_pickandplace",
     "job_name": "wam",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 4,
-    "steps": 8000,
+    "steps": 2000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -187,7 +187,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "uxjexeyc",
+        "run_id": "x2a5m24i",
         "mode": null,
         "add_tags": true
     },
@@ -198,5 +198,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/wam_pickandplace/checkpoints/last"
 }