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@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+smolvla_omy/wandb/run-20250810_170118-7/run-7.wandb filter=lfs diff=lfs merge=lfs -text

README.md

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+# SmolVLA-OMY Model Checkpoints
+
+This repository contains training checkpoints for a SmolVLA (Small Vision-Language-Action) model trained on the ArrangeVegetables task.
+
+## Model Details
+
+- **Model Type**: SmolVLA (Vision-Language-Action model)
+- **Task**: ArrangeVegetables manipulation task
+- **Training Steps**: 20,000 steps
+- **Batch Size**: 350
+- **Chunk Size**: 5 action steps
+- **Input Features**:
+  - Visual observations: 256x256 RGB images (both main camera and wrist camera)
+  - State observations: 6-dimensional state vector
+- **Output Features**: 12-dimensional action space
+
+## Checkpoint Structure
+
+The repository contains checkpoints saved at different training steps:
+- `000500/`: Checkpoint at 500 steps
+- `001000/`: Checkpoint at 1,000 steps  
+- `001500/`: Checkpoint at 1,500 steps
+- `002000/`: Checkpoint at 2,000 steps
+
+Each checkpoint contains:
+- `pretrained_model/`: Model weights and configuration
+- `training_state/`: Optimizer state, scheduler state, and training metadata
+
+## Training Configuration
+
+- **Device**: CUDA
+- **Seed**: 42
+- **Workers**: 24
+- **Evaluation Frequency**: Every 5 steps
+- **Logging Frequency**: Every step
+- **Image Resize**: 512x512 with padding
+- **Normalization**: Identity for visual, mean-std for state/action
+
+## Usage
+
+To load a checkpoint:
+
+```python
+from your_training_framework import load_checkpoint
+
+# Load the latest checkpoint (2000 steps)
+model = load_checkpoint("./002000/pretrained_model/")
+```
+
+## Dataset
+
+Trained on the ArrangeVegetables dataset available at: `lava8888/ArrangeVegetables`

smolvla_omy/checkpoints/000500/pretrained_model/config.json

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+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.image": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.wrist_image": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256,
+                256
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                12
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 5,
+    "n_action_steps": 5,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+        512,
+        512
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 10,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10,
+    "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,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": -1,
+    "pad_language_to": "longest",
+    "num_expert_layers": -1,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0
+}

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smolvla_omy/checkpoints/000500/pretrained_model/train_config.json

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+    "dataset": {
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+        "root": "./ArrangeVegetables",
+        "episodes": null,
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+        "normalization_mapping": {
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+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
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+                "type": "VISUAL",
+                "shape": [
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+        "output_features": {
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+                "shape": [
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+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 5,
+        "n_action_steps": 5,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "resize_imgs_with_padding": [
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+            512
+        ],
+        "empty_cameras": 0,
+        "adapt_to_pi_aloha": false,
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+        "num_steps": 10,
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+        "optimizer_weight_decay": 1e-10,
+        "optimizer_grad_clip_norm": 10,
+        "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,
+        "add_image_special_tokens": false,
+        "attention_mode": "cross_attn",
+        "prefix_length": -1,
+        "pad_language_to": "longest",
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+        "self_attn_every_n_layers": 2,
+        "expert_width_multiplier": 0.75,
+        "min_period": 0.004,
+        "max_period": 4.0
+    },
+    "output_dir": "ckpt/smolvla_omy",
+    "job_name": "smolvla_6",
+    "resume": false,
+    "seed": 42,
+    "num_workers": 24,
+    "batch_size": 350,
+    "steps": 20000,
+    "eval_freq": 5,
+    "log_freq": 1,
+    "save_checkpoint": true,
+    "save_freq": 500,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 0.0001,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": true,
+        "project": "smolVLA",
+        "entity": "qualiastudios",
+        "notes": "first",
+        "run_id": "7",
+        "mode": "online"
+    }
+}

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