Upload policy weights, train config and readme

README.md

@@ -6,9 +6,9 @@ license: apache-2.0
 model_name: smolvla
 pipeline_tag: robotics
 tags:
-- lerobot
 - smolvla
 - robotics
+- lerobot
 ---
 
 # Model Card for smolvla

config.json

@@ -32,7 +32,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model",
     "chunk_size": 50,
     "n_action_steps": 50,
     "normalization_mapping": {
@@ -62,7 +62,7 @@
     ],
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 1e-10,
-    "optimizer_grad_clip_norm": 10,
+    "optimizer_grad_clip_norm": 10.0,
     "scheduler_warmup_steps": 1000,
     "scheduler_decay_steps": 30000,
     "scheduler_decay_lr": 2.5e-06,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bb0bea5285ba751e89006e1476d4698995560f83bd38a0357103e4e128b20a3d
+oid sha256:32579685d79e6272fb6e65e4a5f28a70cc4a74fd215448b9972d8d19c7d9373e
 size 1197789224

train_config.json

@@ -114,7 +114,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/smolvla1/checkpoints/last/pretrained_model",
         "chunk_size": 50,
         "n_action_steps": 50,
         "normalization_mapping": {
@@ -144,7 +144,7 @@
         ],
         "optimizer_eps": 1e-08,
         "optimizer_weight_decay": 1e-10,
-        "optimizer_grad_clip_norm": 10,
+        "optimizer_grad_clip_norm": 10.0,
         "scheduler_warmup_steps": 1000,
         "scheduler_decay_steps": 30000,
         "scheduler_decay_lr": 2.5e-06,
@@ -163,7 +163,7 @@
     },
     "output_dir": "outputs/train/smolvla1",
     "job_name": "smolvla_santra",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
@@ -177,7 +177,7 @@
         "type": "adamw",
         "lr": 0.0001,
         "weight_decay": 1e-10,
-        "grad_clip_norm": 10,
+        "grad_clip_norm": 10.0,
         "betas": [
             0.9,
             0.95
@@ -205,6 +205,6 @@
         "run_id": "ba762whj",
         "mode": null
     },
-    "checkpoint_path": null,
+    "checkpoint_path": "outputs/train/smolvla1/checkpoints/last",
     "rename_map": {}
 }