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README.md +63 -0
config.json +117 -0
model.safetensors +3 -0
train_config.json +249 -0

README.md ADDED Viewed

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+---
+base_model: lerobot/smolvla_base
+datasets: CoRL2026-CSI/IsaacLab-SO101-Phase1PlusPhase2-extract_cube-100episode-10fps
+library_name: lerobot
+license: apache-2.0
+model_name: smolvla
+pipeline_tag: robotics
+tags:
+- smolvla
+- lerobot
+- robotics
+---
+# Model Card for smolvla
+<!-- Provide a quick summary of what the model is/does. -->
+[SmolVLA](https://huggingface.co/papers/2506.01844) is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware.
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+---
+## How to Get Started with the Model
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+### Train from scratch
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+### Evaluate the policy/run inference
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+---
+## Model Details
+- **License:** apache-2.0

config.json ADDED Viewed

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+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.camera1": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.images.camera2": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.images.camera3": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.left_wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "CoRL2026-CSI/smolvla_IsaacLab-SO101_extract_cube_Ours_100epi_50ep-appendix",
+    "private": true,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "CoRL2026-CSI/smolVLA-IsaacLab-Multi-Task-8epoch-mod",
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        512,
+        512
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 50,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+    "load_vlm_weights": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "rtc_config": null,
+    "compile_model": false,
+    "compile_mode": "max-autotune"
+}

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train_config.json ADDED Viewed

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+{
+    "dataset": {
+        "repo_id": "CoRL2026-CSI/IsaacLab-SO101-Phase1PlusPhase2-extract_cube-100episode-10fps",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": true,
+            "max_num_transforms": 3,
+            "random_order": true,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
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+                            0.8,
+                            1.2
+                        ]
+                    }
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+                            0.8,
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+        "revision": "v3.0",
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "smolvla",
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+                "shape": [
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+                "type": "VISUAL",
+                "shape": [
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+                    256
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+                "type": "VISUAL",
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+                    256
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+                "type": "VISUAL",
+                "shape": [
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+                "type": "VISUAL",
+                "shape": [
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+                    480,
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+                "shape": [
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+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": "CoRL2026-CSI/smolvla_IsaacLab-SO101_extract_cube_Ours_100epi_50ep-appendix",
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+        "tags": null,
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+        "pretrained_path": "CoRL2026-CSI/smolVLA-IsaacLab-Multi-Task-8epoch-mod",
+        "chunk_size": 50,
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+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
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+        "optimizer_betas": [
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+        "scheduler_warmup_steps": 1000,
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+        "scheduler_decay_lr": 2.5e-06,
+        "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
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+        "project": "lerobot-smolvla",
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+        "mode": "online",
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+        "observation.images.top": "observation.images.camera2"
+    },
+    "checkpoint_path": null
+}