Instructions to use OpenRAL/rskill-smolvla-metaworld with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use OpenRAL/rskill-smolvla-metaworld with LeRobot:
# See https://github.com/huggingface/lerobot?tab=readme-ov-file#installation for more details git clone https://github.com/huggingface/lerobot.git cd lerobot pip install -e .[smolvla]
# Launch finetuning on your dataset python lerobot/scripts/train.py \ --policy.path=OpenRAL/rskill-smolvla-metaworld \ --dataset.repo_id=lerobot/svla_so101_pickplace \ --batch_size=64 \ --steps=20000 \ --output_dir=outputs/train/my_smolvla \ --job_name=my_smolvla_training \ --policy.device=cuda \ --wandb.enable=true
# Run the policy using the record function python -m lerobot.record \ --robot.type=so101_follower \ --robot.port=/dev/ttyACM0 \ # <- Use your port --robot.id=my_blue_follower_arm \ # <- Use your robot id --robot.cameras="{ front: {type: opencv, index_or_path: 8, width: 640, height: 480, fps: 30}}" \ # <- Use your cameras --dataset.single_task="Grasp a lego block and put it in the bin." \ # <- Use the same task description you used in your dataset recording --dataset.repo_id=HF_USER/dataset_name \ # <- This will be the dataset name on HF Hub --dataset.episode_time_s=50 \ --dataset.num_episodes=10 \ --policy.path=OpenRAL/rskill-smolvla-metaworld - Notebooks
- Google Colab
- Kaggle
| { | |
| "schema_version": "0.1", | |
| "source": { | |
| "paper": "https://arxiv.org/abs/1910.10897", | |
| "arxiv": "https://arxiv.org/abs/1910.10897", | |
| "model_variant": "smolvla", | |
| "evaluated_by": "OpenRAL:openral benchmark run", | |
| "reproduced_locally": true, | |
| "reproduction_planned": null, | |
| "reproduction_cli": "openral benchmark run --suite metaworld_mt50 --rskill rskills/smolvla-metaworld", | |
| "table": null, | |
| "status": "reproduced" | |
| }, | |
| "benchmark": { | |
| "name": "MetaWorld MT50", | |
| "dataset": null, | |
| "protocol": "1 episodes per task, success_key=success, max_steps=200", | |
| "robot": "sawyer", | |
| "simulator": "MetaWorld v3 (MuJoCo via lerobot)" | |
| }, | |
| "eval_config": { | |
| "n_episodes": 1, | |
| "seeds": [ | |
| 0 | |
| ], | |
| "success_key": "success", | |
| "max_steps": 200, | |
| "vla_id": "smolvla", | |
| "weights_uri": "rskills/smolvla-metaworld" | |
| }, | |
| "results": { | |
| "metaworld/assembly-v3_success_rate": 1.0, | |
| "metaworld/basketball-v3_success_rate": 0.0, | |
| "metaworld/bin-picking-v3_success_rate": 0.0, | |
| "metaworld/box-close-v3_success_rate": 0.0, | |
| "metaworld/button-press-topdown-v3_success_rate": 1.0, | |
| "metaworld/button-press-topdown-wall-v3_success_rate": 0.0, | |
| "metaworld/button-press-v3_success_rate": 1.0, | |
| "metaworld/button-press-wall-v3_success_rate": 0.0, | |
| "metaworld/coffee-button-v3_success_rate": 1.0, | |
| "metaworld/coffee-pull-v3_success_rate": 0.0, | |
| "metaworld/coffee-push-v3_success_rate": 0.0, | |
| "metaworld/dial-turn-v3_success_rate": 0.0, | |
| "metaworld/disassemble-v3_success_rate": 0.0, | |
| "metaworld/door-close-v3_success_rate": 1.0, | |
| "metaworld/door-lock-v3_success_rate": 1.0, | |
| "metaworld/door-open-v3_success_rate": 0.0, | |
| "metaworld/door-unlock-v3_success_rate": 0.0, | |
| "metaworld/drawer-close-v3_success_rate": 1.0, | |
| "metaworld/drawer-open-v3_success_rate": 0.0, | |
| "metaworld/faucet-close-v3_success_rate": 1.0, | |
| "metaworld/faucet-open-v3_success_rate": 0.0, | |
| "metaworld/hammer-v3_success_rate": 0.0, | |
| "metaworld/hand-insert-v3_success_rate": 0.0, | |
| "metaworld/handle-press-side-v3_success_rate": 1.0, | |
| "metaworld/handle-press-v3_success_rate": 1.0, | |
| "metaworld/handle-pull-side-v3_success_rate": 0.0, | |
| "metaworld/handle-pull-v3_success_rate": 0.0, | |
| "metaworld/lever-pull-v3_success_rate": 0.0, | |
| "metaworld/peg-insert-side-v3_success_rate": 0.0, | |
| "metaworld/peg-unplug-side-v3_success_rate": 0.0, | |
| "metaworld/pick-out-of-hole-v3_success_rate": 0.0, | |
| "metaworld/pick-place-v3_success_rate": 1.0, | |
| "metaworld/pick-place-wall-v3_success_rate": 1.0, | |
| "metaworld/plate-slide-back-side-v3_success_rate": 1.0, | |
| "metaworld/plate-slide-back-v3_success_rate": 0.0, | |
| "metaworld/plate-slide-side-v3_success_rate": 1.0, | |
| "metaworld/plate-slide-v3_success_rate": 0.0, | |
| "metaworld/push-back-v3_success_rate": 0.0, | |
| "metaworld/push-v3_success_rate": 1.0, | |
| "metaworld/push-wall-v3_success_rate": 0.0, | |
| "metaworld/reach-v3_success_rate": 0.0, | |
| "metaworld/reach-wall-v3_success_rate": 0.0, | |
| "metaworld/shelf-place-v3_success_rate": 0.0, | |
| "metaworld/soccer-v3_success_rate": 0.0, | |
| "metaworld/stick-pull-v3_success_rate": 0.0, | |
| "metaworld/stick-push-v3_success_rate": 0.0, | |
| "metaworld/sweep-into-v3_success_rate": 0.0, | |
| "metaworld/sweep-v3_success_rate": 0.0, | |
| "metaworld/window-close-v3_success_rate": 0.0, | |
| "metaworld/window-open-v3_success_rate": 0.0, | |
| "avg_success_rate": 0.3, | |
| "n_tasks": 50, | |
| "n_episodes_per_task": 1, | |
| "n_episodes_total": 50, | |
| "mean_step_latency_ms_avg": 9.514092124575981 | |
| }, | |
| "baselines": {}, | |
| "trace_id": null | |
| } |