Mehul2112/smolvla_black_cube_fullft

SmolVLA — so100_black_cube (full fine-tune)

Full fine-tune of lerobot/smolvla_base on Mehul2112/so100_black_cube_merged (SO-100, single front camera, 130 episodes).

Recipe

• Mode: full fine-tune — VLM backbone unfrozen (train_expert_only=false, freeze_vision_encoder=false).
• Learnable params: ~403M of ~450M (vision encoder + language model + action expert).
• Batch size: 32 · AMP: bf16 · Optimizer LR: ~1e-4 with decay.
• Hardware: single RTX 4090 (24 GB).

Checkpoint

This repo holds the step-14000 checkpoint.

Step	Train loss	Eval loss (15% held-out)
2000	0.186	0.314 ← eval minimum
4000	0.137	0.376
6000	0.105	0.414
8000	0.085	0.476
10000	0.069	0.565
12000	0.055	0.643
14000	0.048	0.723
16000	0.047	0.759
18000	~0.047	0.784
20000	~0.047	0.787

Note: Eval loss reached its minimum at step 2000 and rose monotonically afterward (overfitting on a small 110-episode training split). This step-14000 checkpoint has a very low training loss (0.048) but is well past the generalization optimum. For best real-robot generalization, the step-2000 checkpoint is preferable.

Usage

from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
policy = SmolVLAPolicy.from_pretrained("Mehul2112/smolvla_black_cube_fullft")