Upload eval3_wallx checkpoint 003000 pretrained model

README.md

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+# eval3_wallx
+
+Wall-X fine-tune for Eval 3: place an empty 330 ml slim coke can on the celebrity image named in the prompt.
+
+Important: this upload is the available `003000` checkpoint from the local run. A `005000` checkpoint was not present on disk.
+
+Training summary:
+
+- Base model: `x-square-robot/wall-oss-flow`
+- Policy: LeRobot `wall_x`
+- Dataset requested: `robot-learning-group47/eval3_180_new`
+- Local training subset: first 99 complete episodes from `eval3_180_new`
+- Reason for subset: the Hub dataset has 180 parquet episodes but only 104 MP4 files; LeRobot requires videos for selected episodes.
+- Steps: 3000
+- Batch size: 4
+- Effective batch size: 4
+- Device: A100 80 GB
+- W&B: offline
+

config.json

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+{
+    "type": "wall_x",
+    "n_obs_steps": 1,
+    "input_features": {
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+            "type": "STATE",
+            "shape": [
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+            ]
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+            "shape": [
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+                240,
+                320
+            ]
+        }
+    },
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+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": true,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 32,
+    "n_action_steps": 32,
+    "max_action_dim": 20,
+    "max_state_dim": 20,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "pretrained_name_or_path": "x-square-robot/wall-oss-flow",
+    "action_tokenizer_path": null,
+    "prediction_mode": "diffusion",
+    "attn_implementation": "eager",
+    "optimizer_lr": 2e-05,
+    "optimizer_betas": [
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+        0.95
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+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 100000,
+    "scheduler_decay_lr": 1e-06
+}

model.safetensors

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policy_postprocessor.json

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policy_preprocessor.json

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+      "config": {
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+      "registry_name": "to_batch_processor",
+      "config": {}
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+    {
+      "registry_name": "wall_x_task_processor",
+      "config": {}
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+  ]
+}

policy_preprocessor_step_3_normalizer_processor.safetensors

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train_config.json

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+{
+    "dataset": {
+        "repo_id": "robot-learning-group47/eval3_180_new",
+        "root": "/data/lerobot_datasets/robot-learning-group47/eval3_180_new_first99",
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
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+                            0.8,
+                            1.2
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+                            5.0
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+                        "translate": [
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "streaming": false
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+    "env": null,
+    "policy": {
+        "type": "wall_x",
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+        "max_state_dim": 20,
+        "normalization_mapping": {
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+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "pretrained_name_or_path": "x-square-robot/wall-oss-flow",
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+        "prediction_mode": "diffusion",
+        "attn_implementation": "eager",
+        "optimizer_lr": 2e-05,
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+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 100000,
+        "scheduler_decay_lr": 1e-06
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+    "reward_model": null,
+    "output_dir": "outputs/train/2026-05-20/12-50-26_wall_x",
+    "job_name": "wall_x",
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+    "seed": 1000,
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+    "num_workers": 4,
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+    "prefetch_factor": 4,
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+    "steps": 3000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
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+        "lr": 2e-05,
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+        "batch_size": 11,
+        "use_async_envs": true
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+        "disable_artifact": false,
+        "project": "lerobot",
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+    "checkpoint_path": null
+}