metadata
license: apache-2.0
tags:
- robotics
- lerobot
- smolvla
- bimanual
- vlm-frozen
datasets:
- Bcryan/BIMAN_PICK_AND_PLACE2
library_name: lerobot
SmolVLA Fine-tuned (VLM Frozen)
Fine-tuned SmolVLA model with frozen Vision-Language Model on BIMAN_PICK_AND_PLACE2 dataset.
Model Configuration
- freeze_vision_encoder: True
- train_expert_only: True
- train_state_proj: True
Training Details
- Base model: lerobot/smolvla_base
- Dataset: Bcryan/BIMAN_PICK_AND_PLACE2
- Training steps: 70,000
- Batch size: 16
- VLM: Frozen (only action expert trained)
Usage
from lerobot.common.policies.smolvla import SmolVLAPolicy
policy = SmolVLAPolicy.from_pretrained("Autobrik/smolvla-finetunned-vlm-off")
Training Command
python lerobot/scripts/train.py \
--policy.path=lerobot/smolvla_base \
--dataset.repo_id=Bcryan/BIMAN_PICK_AND_PLACE2 \
--batch_size=16 \
--steps=70000