Upload policy weights, train config and readme

README.md

@@ -7,8 +7,8 @@ model_name: smolvla
 pipeline_tag: robotics
 tags:
 - lerobot
-- smolvla
 - robotics
+- smolvla
 ---
 
 # Model Card for smolvla

config.json

@@ -69,17 +69,17 @@
     ],
     "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,
     "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
-    "load_vlm_weights": false,
+    "load_vlm_weights": true,
     "add_image_special_tokens": false,
     "attention_mode": "cross_attn",
-    "prefix_length": -1,
-    "pad_language_to": "longest",
-    "num_expert_layers": -1,
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
     "num_vlm_layers": 16,
     "self_attn_every_n_layers": 2,
     "expert_width_multiplier": 0.75,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dca556518ae84d1bc5c2a621f32cc7f5b1dfab165f4db0eaacb46f593911f9b5
-size 1197790048
+oid sha256:00e108ddc7be5e3c46222bad6372af6151e4dccdf435ef4ad71ba9639332e698
+size 906713328

train_config.json

@@ -136,17 +136,17 @@
         ],
         "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,
         "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
-        "load_vlm_weights": false,
+        "load_vlm_weights": true,
         "add_image_special_tokens": false,
         "attention_mode": "cross_attn",
-        "prefix_length": -1,
-        "pad_language_to": "longest",
-        "num_expert_layers": -1,
+        "prefix_length": 0,
+        "pad_language_to": "max_length",
+        "num_expert_layers": 0,
         "num_vlm_layers": 16,
         "self_attn_every_n_layers": 2,
         "expert_width_multiplier": 0.75,
@@ -154,22 +154,22 @@
         "max_period": 4.0
     },
     "output_dir": "outputs/train/smolvla-spatial",
-    "job_name": "smolvla_so101",
+    "job_name": "smolvla_libero_spatial",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 64,
-    "steps": 200000,
+    "steps": 100000,
     "eval_freq": 20000,
-    "log_freq": 200,
+    "log_freq": 1,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 2000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
         "lr": 0.0001,
         "weight_decay": 1e-10,
-        "grad_clip_norm": 10,
+        "grad_clip_norm": 10.0,
         "betas": [
             0.9,
             0.95
@@ -189,12 +189,12 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
-        "project": "lerobot",
+        "project": "lerobot_ljh",
         "entity": null,
         "notes": null,
-        "run_id": null,
+        "run_id": "run_20250818_b689510d",
         "mode": null
     }
 }