Upload policy weights, train config and readme

README.md

@@ -1,14 +1,14 @@
 ---
 base_model: lerobot/smolvla_base
-datasets: PRFitz/lekiwi-dataset-pick-place-red123
+datasets: PRFitz/lekiwi-dataset-pick-place-red456
 library_name: lerobot
 license: apache-2.0
 model_name: smolvla
 pipeline_tag: robotics
 tags:
-- robotics
 - lerobot
 - smolvla
+- robotics
 ---
 
 # Model Card for smolvla

config.json

@@ -48,7 +48,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "PRFitz/pick_place_smolvla",
     "chunk_size": 50,
     "n_action_steps": 50,
     "normalization_mapping": {
@@ -78,7 +78,7 @@
     ],
     "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 sha256:32410fdb546af64d6ac422e9d9abe35af1ae3dd41edbcbcad14ccc8cc3f91a3f
+oid sha256:ed9fe74a0ea3b8f7e4fd2c86dbdb625d2509f57de534b3624cc6c88d161bc19d
 size 906712520

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "PRFitz/lekiwi-dataset-pick-place-red123",
+        "repo_id": "PRFitz/lekiwi-dataset-pick-place-red456",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -130,7 +130,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "PRFitz/pick_place_smolvla",
         "chunk_size": 50,
         "n_action_steps": 50,
         "normalization_mapping": {
@@ -160,7 +160,7 @@
         ],
         "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,
@@ -177,7 +177,7 @@
         "min_period": 0.004,
         "max_period": 4.0
     },
-    "output_dir": "outputs/train/pick_place_smolvla1",
+    "output_dir": "outputs/train/pick_place_smolvla2",
     "job_name": "smolvla_training",
     "resume": false,
     "seed": 1000,
@@ -193,7 +193,7 @@
         "type": "adamw",
         "lr": 0.0001,
         "weight_decay": 1e-10,
-        "grad_clip_norm": 10,
+        "grad_clip_norm": 10.0,
         "betas": [
             0.9,
             0.95