Upload policy weights, train config and readme

README.md

@@ -0,0 +1,63 @@
+---
+base_model: lerobot/smolvla_base
+datasets: hubnemo/so101_sort
+library_name: lerobot
+license: apache-2.0
+model_name: smolvla
+pipeline_tag: robotics
+tags:
+- lerobot
+- robotics
+- smolvla
+---
+
+# Model Card for smolvla
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+[SmolVLA](https://huggingface.co/papers/2506.01844) is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware.
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

@@ -28,8 +28,8 @@
     "device": "cuda",
     "use_amp": false,
     "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
+    "push_to_hub": true,
+    "repo_id": "orellius/so101_sort_smolvla",
     "private": null,
     "tags": null,
     "license": null,
@@ -64,8 +64,8 @@
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 1e-10,
     "optimizer_grad_clip_norm": 10,
-    "scheduler_warmup_steps": 50,
-    "scheduler_decay_steps": 1000,
+    "scheduler_warmup_steps": 250,
+    "scheduler_decay_steps": 5000,
     "scheduler_decay_lr": 2.5e-06,
     "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
     "load_vlm_weights": false,

model.safetensors

@@ -1,3 +1,3 @@
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-oid sha256:1ee376e8da064e11186d3977cd1477b49cb1e43a5b8fdadaa89bc93fd97bc277
+oid sha256:55bdd30528904dfb97a97a40f84f26e322a35fa7d8d6533594e0c90d1da0b592
 size 1197789224

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
         "repo_id": "hubnemo/so101_sort",
-        "root": "datasets/so101_matchbox_reward_fpv_less_bias",
+        "root": "datasets/so101_sort",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -96,8 +96,8 @@
         "device": "cuda",
         "use_amp": false,
         "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
+        "push_to_hub": true,
+        "repo_id": "orellius/so101_sort_smolvla",
         "private": null,
         "tags": null,
         "license": null,
@@ -132,8 +132,8 @@
         "optimizer_eps": 1e-08,
         "optimizer_weight_decay": 1e-10,
         "optimizer_grad_clip_norm": 10,
-        "scheduler_warmup_steps": 50,
-        "scheduler_decay_steps": 1000,
+        "scheduler_warmup_steps": 250,
+        "scheduler_decay_steps": 5000,
         "scheduler_decay_lr": 2.5e-06,
         "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
         "load_vlm_weights": false,
@@ -148,13 +148,13 @@
         "min_period": 0.004,
         "max_period": 4.0
     },
-    "output_dir": "outputs/train/so101_sort_so101_sort_smolvla_20251107_2009",
-    "job_name": "so101_sort_so101_sort_smolvla_20251107_2009",
+    "output_dir": "outputs/train/so101_sort_so101_sort_smolvla_20251107_2019",
+    "job_name": "so101_sort_so101_sort_smolvla_20251107_2019",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 4,
-    "steps": 1000,
+    "steps": 5000,
     "eval_freq": 200,
     "log_freq": 100,
     "save_checkpoint": true,
@@ -173,8 +173,8 @@
     },
     "scheduler": {
         "type": "cosine_decay_with_warmup",
-        "num_warmup_steps": 50,
-        "num_decay_steps": 1000,
+        "num_warmup_steps": 250,
+        "num_decay_steps": 5000,
         "peak_lr": 0.0003,
         "decay_lr": 2.5e-06
     },