| --- |
| license: apache-2.0 |
| library_name: lerobot |
| base_model: lerobot/smolvla_base |
| datasets: |
| - lerobot/svla_so101_pickplace |
| tags: |
| - robotics |
| - lerobot |
| - smolvla |
| - vision-language-action |
| - so-101 |
| - imitation-learning |
| pipeline_tag: robotics |
| --- |
| |
| # SmolVLA · SO-101 Pick-and-Place (fine-tuned) |
|
|
| Fine-tune of [`lerobot/smolvla_base`](https://huggingface.co/lerobot/smolvla_base) (450M VLA) |
| on the real-robot SO-101 dataset |
| [`lerobot/svla_so101_pickplace`](https://huggingface.co/datasets/lerobot/svla_so101_pickplace) |
| (50 teleoperated episodes, 2 cameras `up`/`side`, 6-DoF state). |
| [`lerobot/svla_so101_pickplace`](https://huggingface.co/datasets/lerobot/svla_so101_pickplace) |
| [`lerobot/svla_so101_pickplace`](https://huggingface.co/datasets/lerobot/svla_so101_pickplace) |
| [`lerobot/svla_so101_pickplace`](https://huggingface.co/datasets/lerobot/svla_so101_pickplace) |
| (50 teleoperated episodes, 2 cameras `up`/`side`, 6-DoF state). |
|
|
| ## Training |
|
|
| | | | |
| |---|---| |
| | Base | `lerobot/smolvla_base` | |
| | Dataset | `lerobot/svla_so101_pickplace` (50 ep / 11,939 frames) | |
| | Steps | 2,000 (batch size 8) | |
| | GPU | single T4 (~78 min) | |
| | Camera mapping | `up to camera1`, `side to camera2` via `--rename_map` | |
| | Loss | 0.410 to 0.141 (monotonic) | |
|
|
| ## Intended use & honest limitations |
|
|
| This is a **pipeline-validation / learning run**, not a production policy. |
|
|
| - Demonstrates the full real-robot imitation-learning loop: load a real teleoperation dataset, fine-tune a pretrained VLA, converge, ship a checkpoint. |
| - Only 2,000 steps (~1.3 epochs). The SmolVLA paper uses ~20k steps; expect this checkpoint to under-perform a fully trained one. |
| - No closed-loop success rate. Evaluation on the physical SO-101 arm (`lerobot-record`) was not run (no hardware). Reported signal is training-loss |
| convergence only, which proves the model is learning, not real-world task success. |
|
|
| ## Load |
|
|
| ```python |
| from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy |
| policy = SmolVLAPolicy.from_pretrained("Kaminoikari/smolvla-so101-pickplace-ft") |
| |
