Upload policy weights, train config and readme

README.md

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

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "time_between_frames": 50,
     "lag_offset": 3,
     "image_size": [
@@ -54,7 +54,7 @@
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "use_pretrained_backbone": true,
-    "freeze_backbone": false,
+    "freeze_backbone": true,
     "latent_dim": 64,
     "n_vae_encoder_layers": 4,
     "action_head_num_layers": 4,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:57f1cff9aea224c05a8781d0b824e0491f6f7c037aa1ad8d919fd845e23b18bd
+oid sha256:822302b4a08baa9e1858cca0c2e5081f76773ae9ae95f6b8085904d0e9aa4347
 size 301331136

train_config.json

@@ -154,7 +154,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/wam_aloha_decoder/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "time_between_frames": 50,
         "lag_offset": 3,
         "image_size": [
@@ -175,7 +175,7 @@
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "use_pretrained_backbone": true,
-        "freeze_backbone": false,
+        "freeze_backbone": true,
         "latent_dim": 64,
         "n_vae_encoder_layers": 4,
         "action_head_num_layers": 4,
@@ -194,12 +194,12 @@
     },
     "output_dir": "outputs/train/wam_aloha_decoder",
     "job_name": "aloha_wam",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 12000,
+    "steps": 8000,
     "eval_freq": 2000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -235,7 +235,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "8sbw5ian",
+        "run_id": "mix86rg4",
         "mode": null,
         "add_tags": true
     },
@@ -246,5 +246,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/wam_aloha_decoder/checkpoints/last"
+    "checkpoint_path": null
 }