Hugging Face's logo

TInkybala
/
Real_Panda_Merged

Robotics
LeRobot
Safetensors
smolvla
Model card Files
xet
 Community
Real_Panda_Merged
File size: 2,151 Bytes
ca70e77
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
{
    "type": "smolvla",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                8
            ]
        },
        "observation.images.camera_1": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": true,
    "repo_id": "TInkybala/Real_Panda_PickScrewdriver_finetune_smolvla_20260310_135104",
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "chunk_size": 50,
    "n_action_steps": 50,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "max_state_dim": 32,
    "max_action_dim": 32,
    "resize_imgs_with_padding": [
        512,
        512
    ],
    "empty_cameras": 0,
    "adapt_to_pi_aloha": false,
    "use_delta_joint_actions_aloha": false,
    "tokenizer_max_length": 48,
    "num_steps": 10,
    "use_cache": true,
    "freeze_vision_encoder": true,
    "train_expert_only": true,
    "train_state_proj": true,
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.9,
        0.95
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-10,
    "optimizer_grad_clip_norm": 10,
    "scheduler_warmup_steps": 1000,
    "scheduler_decay_steps": 30000,
    "scheduler_decay_lr": 2.5e-06,
    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
    "load_vlm_weights": false,
    "add_image_special_tokens": false,
    "attention_mode": "cross_attn",
    "prefix_length": -1,
    "pad_language_to": "longest",
    "num_expert_layers": -1,
    "num_vlm_layers": 16,
    "self_attn_every_n_layers": 2,
    "expert_width_multiplier": 0.75,
    "min_period": 0.004,
    "max_period": 4.0,
    "rtc_config": null,
    "compile_model": false,
    "compile_mode": "max-autotune"
}