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README.md

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+---
+language:
+- en
+license: mit
+tags:
+- SmolVLA
+- LeRobot
+- robotics
+- imitation-learning
+- behavior-cloning
+- so101
+pipeline_tag: reinforcement-learning
+library_name: lerobot
+base_model:
+- lerobot/smolvla_base
+---
+
+# LeRobot SO101 SmolVLA task1-unknown_bs64_s20000
+
+## Summary
+
+This repository contains the final checkpoint for a SmolVLA policy fine-tune trained on `aswinkumar99/task1-unknown` for SO101 sponge pick-and-place experiments.
+
+Dataset meaning: Task 1: Single Sponge - No Distractors (random-locations / unknown).
+
+This SmolVLA policy is a fine-tune of `lerobot/smolvla_base`, as recorded by both the launch command (`--policy.path=lerobot/smolvla_base`) and the saved training config (`pretrained_path: lerobot/smolvla_base`).
+
+## Training Setup
+
+- Dataset repo: `aswinkumar99/task1-unknown`
+- Local dataset root during training: `/home/riftuser/datasets_combined/aswinkumar99/task1-unknown`
+- Output directory during training: `/home/riftuser/outputs_matrix/smolvla/task1-unknown_bs64_s20000`
+- Batch size: `64`
+- Training steps: `20000`
+- Checkpoint save frequency: `5000`
+- Data loader workers: `8`
+- WandB project: `so101-layout-generalization`
+- GPU: `NVIDIA RTX PRO 6000 Blackwell Max-Q Workstation Edition`
+- Python: `CPython 3.12.13`
+- CUDA: `12.9`
+- Training start: `2026-04-24T00:24:53.023942+00:00`
+- Training end: `2026-04-24T02:49:03`
+- Approximate training duration: `2h 24m 9s`
+
+- Base model: `lerobot/smolvla_base`
+- Observation camera rename map: `{"observation.images.overhead": "observation.images.camera1", "observation.images.wrist": "observation.images.camera2"}`
+- Action chunk size: `50`
+- Action steps predicted: `50`
+
+## Exact Training Command
+
+```bash
+lerobot-train \
+  --dataset.repo_id=aswinkumar99/task1-unknown \
+  --dataset.root=/home/riftuser/datasets_combined/aswinkumar99/task1-unknown \
+  --dataset.video_backend=torchcodec \
+  --output_dir=/home/riftuser/outputs_matrix/smolvla/task1-unknown_bs64_s20000 \
+  --job_name=smolvla_task1-unknown_bs64 \
+  --batch_size=64 \
+  --steps=20000 \
+  --log_freq=200 \
+  --save_freq=5000 \
+  --save_checkpoint=true \
+  --num_workers=8 \
+  --wandb.enable=true \
+  --wandb.project=so101-layout-generalization \
+  --wandb.mode=online \
+  --wandb.disable_artifact=true \
+  --policy.path=lerobot/smolvla_base \
+  --policy.device=cuda \
+  --policy.push_to_hub=false \
+  --rename_map={"observation.images.overhead": "observation.images.camera1", "observation.images.wrist": "observation.images.camera2"}
+```
+
+## Repository Contents
+
+- `pretrained_model/`: final downloadable model artifacts for inference/loading
+- `training_state/`: optimizer, RNG, scheduler/state, and step information for resuming or auditability
+
+## Notes
+
+- This repo stores the final checkpoint that was uploaded from the cloud training workspace.
+- The checkpoint was trained with LeRobot tooling via `lerobot-train`.
+- For SO101 experiments in this workspace, the dataset source was created by Aswinkumar.
+
+## Creator
+
+Aswinkumar
+
+- Website: [aswinkumar.me](https://aswinkumar.me)
+- Hugging Face repo: <https://huggingface.co/aswinkumar99/LeRobot-SO101-SmolVLA-task1-unknown_bs64_s20000>