Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
 base_model: lerobot/smolvla_base
-datasets: PRFitz/lekiwi-dataset-test-middle1
+datasets: PRFitz/lekiwi-dataset-test-left
 library_name: lerobot
 license: apache-2.0
 model_name: smolvla
 pipeline_tag: robotics
 tags:
-- lerobot
 - robotics
+- lerobot
 - smolvla
 ---
 

config.json

@@ -40,7 +40,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "PRFitz/circle9_smolvla",
     "chunk_size": 50,
     "n_action_steps": 50,
     "normalization_mapping": {
@@ -70,7 +70,7 @@
     ],
     "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:a11f2d555fb92e13f20baba543a6cd0888f7f34d123845d7c2f1bdb23103940f
+oid sha256:f7c4fe53564c5c2c866264230bfadae494818b4682f07c14d12610951aa26f64
 size 906712520

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "PRFitz/lekiwi-dataset-test-middle1",
+        "repo_id": "PRFitz/lekiwi-dataset-test-left",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -122,7 +122,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "PRFitz/circle9_smolvla",
         "chunk_size": 50,
         "n_action_steps": 50,
         "normalization_mapping": {
@@ -152,7 +152,7 @@
         ],
         "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,
@@ -169,8 +169,8 @@
         "min_period": 0.004,
         "max_period": 4.0
     },
-    "output_dir": "outputs/train/circle9_smolvla1",
-    "job_name": "smolvla_training_1",
+    "output_dir": "outputs/train/circle9_smolvla2",
+    "job_name": "smolvla_2",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -185,7 +185,7 @@
         "type": "adamw",
         "lr": 0.0001,
         "weight_decay": 1e-10,
-        "grad_clip_norm": 10,
+        "grad_clip_norm": 10.0,
         "betas": [
             0.9,
             0.95
@@ -214,8 +214,5 @@
         "mode": null
     },
     "checkpoint_path": null,
-    "rename_map": {
-        "observation.images.wrist": "observation.images.camera1",
-        "observation.images.front": "observation.images.camera2"
-    }
+    "rename_map": {}
 }