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leroVLA

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LeRobot
Safetensors
smolvla
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Beable commited on
Commit
e4e36c2
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1 Parent(s): 20de569

Upload policy weights, train config and readme

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Files changed (4) hide show
  1. README.md +1 -1
  2. config.json +1 -1
  3. model.safetensors +1 -1
  4. train_config.json +8 -8
README.md CHANGED
@@ -1,6 +1,6 @@
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  ---
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  base_model: lerobot/smolvla_base
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- datasets: Beable/lerobot-SOARM100-sim2
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  library_name: lerobot
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  license: apache-2.0
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  model_name: smolvla
 
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  ---
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  base_model: lerobot/smolvla_base
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+ datasets: Beable/lerobot-SOARM100-sim3
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  library_name: lerobot
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  license: apache-2.0
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  model_name: smolvla
config.json CHANGED
@@ -51,7 +51,7 @@
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  "tokenizer_max_length": 48,
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  "num_steps": 10,
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  "use_cache": true,
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- "freeze_vision_encoder": true,
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  "train_expert_only": false,
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  "train_state_proj": true,
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  "optimizer_lr": 2e-05,
 
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  "tokenizer_max_length": 48,
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  "num_steps": 10,
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  "use_cache": true,
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+ "freeze_vision_encoder": false,
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  "train_expert_only": false,
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  "train_state_proj": true,
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  "optimizer_lr": 2e-05,
model.safetensors CHANGED
@@ -1,3 +1,3 @@
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  version https://git-lfs.github.com/spec/v1
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- oid sha256:33b74bfc1e65b4bd1c106aa84ef0b5b422e4a55a4d12287e2d1d2115068759f3
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  size 1197790016
 
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  version https://git-lfs.github.com/spec/v1
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+ oid sha256:3e46c3c1de6ef85d549bff9674db9178b62ca1a194a4b6c6830da3f9670d6dfb
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  size 1197790016
train_config.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "dataset": {
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- "repo_id": "Beable/lerobot-SOARM100-sim",
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  "root": null,
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  "episodes": null,
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  "image_transforms": {
@@ -60,10 +60,10 @@
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  }
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  }
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  },
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- "revision": "v2.2",
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  "use_imagenet_stats": true,
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  "video_backend": "torchcodec",
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- "tolerance_s": 0.02,
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  "timestamps_check": "warn"
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  },
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  "env": null,
@@ -120,7 +120,7 @@
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  "tokenizer_max_length": 48,
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  "num_steps": 10,
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  "use_cache": true,
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- "freeze_vision_encoder": true,
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  "train_expert_only": false,
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  "train_state_proj": true,
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  "optimizer_lr": 2e-05,
@@ -147,17 +147,17 @@
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  "min_period": 0.004,
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  "max_period": 4.0
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  },
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- "output_dir": "outputs/train/2025-08-15/01-34-33_smolvla",
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  "job_name": "smolvla",
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  "resume": false,
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  "seed": 1000,
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  "num_workers": 4,
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- "batch_size": 32,
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- "steps": 2000,
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  "eval_freq": 20000,
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  "log_freq": 100,
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  "save_checkpoint": true,
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- "save_freq": 1000,
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  "use_policy_training_preset": true,
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  "optimizer": {
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  "type": "adamw",
 
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  {
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  "dataset": {
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+ "repo_id": "Beable/lerobot-SOARM100-sim3",
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  "root": null,
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  "episodes": null,
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  "image_transforms": {
 
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  }
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  }
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  },
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+ "revision": "v2.1",
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  "use_imagenet_stats": true,
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  "video_backend": "torchcodec",
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+ "tolerance_s": 0.0001,
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  "timestamps_check": "warn"
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  },
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  "env": null,
 
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  "tokenizer_max_length": 48,
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  "num_steps": 10,
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  "use_cache": true,
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+ "freeze_vision_encoder": false,
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  "train_expert_only": false,
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  "train_state_proj": true,
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  "optimizer_lr": 2e-05,
 
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  "min_period": 0.004,
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  "max_period": 4.0
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  },
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+ "output_dir": "outputs/train/2025-08-15/03-56-10_smolvla",
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  "job_name": "smolvla",
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  "resume": false,
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  "seed": 1000,
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  "num_workers": 4,
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+ "batch_size": 4,
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+ "steps": 40000,
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  "eval_freq": 20000,
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  "log_freq": 100,
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  "save_checkpoint": true,
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+ "save_freq": 40000,
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  "use_policy_training_preset": true,
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  "optimizer": {
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  "type": "adamw",