Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ license: apache-2.0
 model_name: smolvla
 pipeline_tag: robotics
 tags:
-- smolvla
 - robotics
+- smolvla
 - lerobot
 ---
 

config.json

@@ -54,7 +54,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/smolvla_video_3cams/checkpoints/last/pretrained_model",
     "chunk_size": 50,
     "n_action_steps": 1,
     "normalization_mapping": {
@@ -84,7 +84,7 @@
     ],
     "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:f09e0ab6889cebdcc157d56670169af5ed9ba22ffc9c3e2735862e195ca6fb30
+oid sha256:854c676fcad273248c37331dccc60f17e69de55a27724168a95fcb600201fa44
 size 1197789224

train_config.json

@@ -136,7 +136,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/smolvla_video_3cams/checkpoints/last/pretrained_model",
         "chunk_size": 50,
         "n_action_steps": 1,
         "normalization_mapping": {
@@ -166,7 +166,7 @@
         ],
         "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,
@@ -185,21 +185,21 @@
     },
     "output_dir": "outputs/train/smolvla_video_3cams",
     "job_name": "smolvla",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 10005,
+    "steps": 40005,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 2000,
+    "save_freq": 5000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
         "lr": 0.0001,
         "weight_decay": 1e-10,
-        "grad_clip_norm": 10,
+        "grad_clip_norm": 10.0,
         "betas": [
             0.9,
             0.95
@@ -227,6 +227,6 @@
         "run_id": "vpn9ethq",
         "mode": null
     },
-    "checkpoint_path": null,
+    "checkpoint_path": "outputs/train/smolvla_video_3cams/checkpoints/last",
     "rename_map": {}
 }