SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
Paper • 2506.01844 • Published • 159
# Launch finetuning on your dataset
python lerobot/scripts/train.py \
--policy.path=DrainpipeAI/MoveBox \
--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=DrainpipeAI/MoveBoxModel Card for smolvla
SmolVLA is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware.
This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.
How to Get Started with the Model
For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:
Train from scratch
lerobot-train \
--dataset.repo_id=${HF_USER}/<dataset> \
--policy.type=act \
--output_dir=outputs/train/<desired_policy_repo_id> \
--job_name=lerobot_training \
--policy.device=cuda \
--policy.repo_id=${HF_USER}/<desired_policy_repo_id>
--wandb.enable=true
Writes checkpoints to outputs/train/<desired_policy_repo_id>/checkpoints/.
Evaluate the policy/run inference
lerobot-record \
--robot.type=so100_follower \
--dataset.repo_id=<hf_user>/eval_<dataset> \
--policy.path=<hf_user>/<desired_policy_repo_id> \
--episodes=10
Prefix the dataset repo with eval_ and supply --policy.path pointing to a local or hub checkpoint.
Model Details
- License: apache-2.0
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Model tree for DrainpipeAI/MoveBox
Base model
lerobot/smolvla_base
# 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]