---
license: mit
tags:
- robotics
- ur7e
- smolvla
- method3
- dct
- phase2
pipeline_tag: robotics
---

# UR7e Sort RGBBlock DCT-tuned SmolVLA 3000-step Checkpoint

This repository preserves the DCT-tuned SmolVLA checkpoint and Method3 Phase2 server artifacts for the UR7e Sort RGBBlock task.

## Source

- Phase1 dataset: `CoRL2026-CSI/UR7e_phase1_Sort_RGBblock_10fps`
- Task: Sort each colored block onto the dish of the matching color.
- Training: `steps=3000`, `batch_size=16`, `gradient_accumulation_steps=1`, `empty_cameras=1`
- Camera rename: `realsense_wrist -> camera1`, `realsense_topview -> camera2`

## Contents

- `pretrained_model/`: LeRobot/SmolVLA `from_pretrained` checkpoint.
- `skill_dct/`: raw and canonical skill DCT sidecar parquet files.
- `vector_db/`: Phase2 P_phase1 vector DB and server buffer DB.
- `session/`: minimal Phase1 session artifacts needed by UR7e Phase2 replay.
- `config/`: Phase2 and recording configs used for server startup.
- `MANIFEST.json`: file hashes, training metadata, and DB summary.

## Verified DB Summary

- Skills: `29`
- Entries: `580`
- Per-skill entries: `20` to `20`
- Key shape example: `[20, 966]`

## Server Startup Hint

```bash
cd /home/csiwoo/CORL2026/ur7e_autodata_workspace/runtime/AutoDataCollector-ur7e
PATH=/home/csiwoo/robobridge/nvidia_580_126_09/usr/bin:$PATH \
LD_LIBRARY_PATH=/home/csiwoo/robobridge/nvidia_580_126_09/usr/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH:-} \
SKIP_SETUP=1 GPU_ID=0 ENV_NAME=gpu_server HOST=0.0.0.0 PORT=50061 \
RECORDING_CONFIG=pipeline_config/recording_config_ur7e_phase2.yaml \
URDF=assets/urdf/ur7e.urdf \
bash grpc_server/run_server.sh
```