Upload policy weights, train config and readme

README.md

@@ -1,14 +1,14 @@
 ---
 base_model: lerobot/smolvla_base
-datasets: LBST/t10_pick_and_place
+datasets: LBST/t11_pick_and_place_screwdriver
 library_name: lerobot
 license: apache-2.0
 model_name: smolvla
 pipeline_tag: robotics
 tags:
+- robotics
 - lerobot
 - smolvla
-- robotics
 ---
 
 # Model Card for smolvla

config.json

@@ -69,7 +69,7 @@
     ],
     "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 sha256:204fe7f3ad8f55520d67f899d9d66bf09baef653e6937e7b7e066501ff88c1ec
+oid sha256:8cf6627288fd05aeaf90e21110989d4b8638c842a3fb52ab2f688e52e0049922
 size 906713296

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "LBST/t10_pick_and_place",
+        "repo_id": "LBST/t11_pick_and_place_screwdriver",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -136,7 +136,7 @@
         ],
         "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,
@@ -153,23 +153,23 @@
         "min_period": 0.004,
         "max_period": 4.0
     },
-    "output_dir": "outputs/train/t10_pick_and_place",
+    "output_dir": "outputs/train/t11_pick_and_place_25k",
     "job_name": "t10_pick_and_place",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 64,
-    "steps": 20000,
-    "eval_freq": 500,
+    "steps": 25000,
+    "eval_freq": 200,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 500,
+    "save_freq": 200,
     "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