---
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
```python
from lerobot.common.policies.smolvla import SmolVLAPolicy
policy = SmolVLAPolicy.from_pretrained("Autobrik/smolvla-finetunned-vlm-off")
```

## Training Command
```bash
python lerobot/scripts/train.py \
  --policy.path=lerobot/smolvla_base \
  --dataset.repo_id=Bcryan/BIMAN_PICK_AND_PLACE2 \
  --batch_size=16 \
  --steps=70000
```