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ehalicki/
lewam-so101-multitask-finetuned

Name: lewam-so101-multitask-finetuned
Availability: InStock

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LeWAM

Joint video-action flow-matching model for robot control.

Architecture: 12-layer DiT, dim 512
Context frames: 16 @ 5 fps
Future frames: 12
Action dim: 6 @ 30 fps
Cameras: image1, image2

Usage

With lerobot:

bash

pip install "lerobot_policy_lewam @ git+https://github.com/ErykHalicki/lerobot_policy_lewam.git"
lerobot-record --policy.type lewam --policy.pretrained_path ehalicki/lewam-so101-multitask-finetuned