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config.json

@@ -28,8 +28,8 @@
             "type": "VISUAL",
             "shape": [
                 3,
-                256,
-                256
+                400,
+                640
             ]
         }
     },
@@ -43,18 +43,19 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
     "repo_id": "ISdept/smolvla-piper",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "ISdept/smolvla-piper",
+    "pretrained_path": "lerobot/smolvla_base",
     "chunk_size": 50,
     "n_action_steps": 50,
     "normalization_mapping": {
         "VISUAL": "IDENTITY",
-        "STATE": "IDENTITY",
-        "ACTION": "IDENTITY"
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
     },
     "max_state_dim": 32,
     "max_action_dim": 32,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c859d70fc6f7cb414d430559bb33e98c401529bb18ecfbf58e7261923aec0752
+oid sha256:0b9045f761edb6048e6b7faca5941bbc77301942e07eea26fd4921e2ad115eb4
 size 906712520

policy_postprocessor.json

@@ -15,8 +15,8 @@
         },
         "norm_map": {
           "VISUAL": "IDENTITY",
-          "STATE": "IDENTITY",
-          "ACTION": "IDENTITY"
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
         }
       },
       "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b58406ff41043b5f11f021fe173d8909684f54d0f0c85cbc138f7ba5a3680384
-size 4000
+oid sha256:597bd1f1e20b9057f3a28b3772fd5b2591a3fba01f55466f463b2e0ed2908f10
+size 4400

policy_preprocessor.json

@@ -5,8 +5,9 @@
       "registry_name": "rename_observations_processor",
       "config": {
         "rename_map": {
-          "observation.images.depth": "observation.images.camera1",
-          "observation.images.gripper": "observation.images.camera2"
+          "observation.images.front": "observation.images.camera1",
+          "observation.images.gripper": "observation.images.camera2",
+          "observation.images.right": "observation.images.camera3"
         }
       }
     },
@@ -67,8 +68,8 @@
             "type": "VISUAL",
             "shape": [
               3,
-              256,
-              256
+              400,
+              640
             ]
           },
           "action": {
@@ -80,8 +81,8 @@
         },
         "norm_map": {
           "VISUAL": "IDENTITY",
-          "STATE": "IDENTITY",
-          "ACTION": "IDENTITY"
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
         }
       },
       "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"

policy_preprocessor_step_5_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b58406ff41043b5f11f021fe173d8909684f54d0f0c85cbc138f7ba5a3680384
-size 4000
+oid sha256:597bd1f1e20b9057f3a28b3772fd5b2591a3fba01f55466f463b2e0ed2908f10
+size 4400

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "ISdept/piper-pick-place-depth",
+        "repo_id": "ISdept/20260204-piper-pick-place",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -110,8 +110,8 @@
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    256,
-                    256
+                    400,
+                    640
                 ]
             }
         },
@@ -131,13 +131,13 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "ISdept/smolvla-piper",
+        "pretrained_path": "lerobot/smolvla_base",
         "chunk_size": 50,
         "n_action_steps": 50,
         "normalization_mapping": {
             "VISUAL": "IDENTITY",
-            "STATE": "IDENTITY",
-            "ACTION": "IDENTITY"
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
         },
         "max_state_dim": 32,
         "max_action_dim": 32,
@@ -179,7 +179,7 @@
         "max_period": 4.0,
         "rtc_config": null
     },
-    "output_dir": "outputs/train/output_smolvla_7dof_4",
+    "output_dir": "outputs/train/output_smolvla_7dof_5",
     "job_name": "smolvla",
     "resume": false,
     "seed": 1000,
@@ -231,8 +231,9 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {
-        "observation.images.depth": "observation.images.camera1",
-        "observation.images.gripper": "observation.images.camera2"
+        "observation.images.front": "observation.images.camera1",
+        "observation.images.gripper": "observation.images.camera2",
+        "observation.images.right": "observation.images.camera3"
     },
     "checkpoint_path": null
 }