Upload policy weights, train config and readme

README.md

@@ -6,9 +6,9 @@ license: apache-2.0
 model_name: smolvla
 pipeline_tag: robotics
 tags:
-- smolvla
 - lerobot
 - robotics
+- smolvla
 ---
 
 # Model Card for smolvla

config.json

@@ -54,7 +54,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/smolvla_vlm_weights/checkpoints/last/pretrained_model",
     "chunk_size": 20,
     "n_action_steps": 20,
     "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 sha256:4db9e062a9c520c7066f786d8ba111444a5f898117296d0520d39908b24c272d
+oid sha256:1a9fdd3092ae1fa97175a996b729a7d445ecf1f2b51d8e6a4a309419ebdc8329
 size 906712520

train_config.json

@@ -136,7 +136,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/smolvla_vlm_weights/checkpoints/last/pretrained_model",
         "chunk_size": 20,
         "n_action_steps": 20,
         "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,
@@ -185,11 +185,11 @@
     },
     "output_dir": "outputs/train/smolvla_vlm_weights",
     "job_name": "smolvla",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 10005,
+    "steps": 20005,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -199,7 +199,7 @@
         "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": "s1msm5pw",
         "mode": null
     },
-    "checkpoint_path": null,
+    "checkpoint_path": "outputs/train/smolvla_vlm_weights/checkpoints/last",
     "rename_map": {}
 }