Upload folder using huggingface_hub

README.md

@@ -0,0 +1,26 @@
+---
+license: mit
+---
+
+# LeWAM Drawer Cleanup (task completion)
+
+Task-completion checkpoint in the **LeWAM v1 format**. Files are stored at the repository root:
+
+```text
+lewam_best.pt
+lewam_config.json
+```
+
+Download both files into `$STABLEWM_HOME/checkpoints/<run_name>/`, then evaluate with the v1 code:
+
+```bash
+python scripts/eval_lewam.py --config-name drawer policy=<run_name> eval.full_traj=true eval.task_only=true
+```
+
+Trained on the three cameras (`pixels`, `pixels_r0eih`, `pixels_r1eih`) of [LeWAM/lewam-drawer-3view](https://huggingface.co/datasets/LeWAM/lewam-drawer-3view); evaluated on [LeWAM/lewam-drawer](https://huggingface.co/datasets/LeWAM/lewam-drawer).
+
+The trained weights are preserved exactly. Strict model loading, attention masks, encoder output,
+action prediction, and dynamics prediction were checked against the source checkpoint.
+No optimizer state is included.
+
+SHA256 of `lewam_best.pt`: `c013a8907ce282f2fc4c3f86f81491be83ea50bd6caef631ec52e466d6bb256f`.

lewam_best.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c013a8907ce282f2fc4c3f86f81491be83ea50bd6caef631ec52e466d6bb256f
+size 63641400

lewam_config.json

@@ -0,0 +1,87 @@
+{
+ "fs": 5,
+ "action_raw_dim": 22,
+ "img_size": 224,
+ "encoder_size": "tiny",
+ "encoder_backbone": "resnet18dp",
+ "encoder_ckpt": null,
+ "z_dim": 192,
+ "proj_hidden": 384,
+ "d_model": 192,
+ "n_heads": 4,
+ "depth": 4,
+ "dropout": 0.1,
+ "n_flow_steps": 8,
+ "num_actions_pred": 10,
+ "num_states_pred": 1,
+ "history_len": 2,
+ "history_stride": 1,
+ "goal_type": "none",
+ "H_max": 10,
+ "action_head": "flow",
+ "state_head": "mse",
+ "flow_alpha_act": 1.0,
+ "flow_alpha_state": 1.0,
+ "num_views": 3,
+ "views": [
+  "pixels",
+  "pixels_r0eih",
+  "pixels_r1eih"
+ ],
+ "goal_views": [
+  "pixels"
+ ],
+ "goal_view_indices": [
+  0
+ ],
+ "sigreg_grouped": true,
+ "sigreg_proj_dim": 0,
+ "action_mean": [
+  0.14831849932670593,
+  -0.11819789558649063,
+  -0.06229739636182785,
+  -0.019640153273940086,
+  0.06845644861459732,
+  0.01653614267706871,
+  0.3483588397502899,
+  0.4423060417175293,
+  0.46674907207489014,
+  0.39561882615089417,
+  0.0481521375477314,
+  -0.03765391930937767,
+  -0.005276348441839218,
+  -0.10179254412651062,
+  0.0076393247582018375,
+  -0.07583703100681305,
+  0.006511594168841839,
+  0.7310828566551208,
+  0.765894889831543,
+  0.7332077026367188,
+  0.6347184777259827,
+  0.40407484769821167
+ ],
+ "action_std": [
+  0.5038843750953674,
+  0.5541285276412964,
+  0.5030153393745422,
+  0.1473264843225479,
+  0.28025931119918823,
+  0.11758679151535034,
+  0.5413413047790527,
+  0.5647051930427551,
+  0.572503924369812,
+  0.5353013873100281,
+  0.12254844605922699,
+  0.4814732074737549,
+  0.5450199842453003,
+  0.49891766905784607,
+  0.10486647486686707,
+  0.31256452202796936,
+  0.24482503533363342,
+  0.6974199414253235,
+  0.720075249671936,
+  0.6899229288101196,
+  0.6340979933738708,
+  0.22512073814868927
+ ]
+}