Upload policy weights, train config and readme

README.md

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

config.json

@@ -49,7 +49,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "lerobot/smolvla_base",
+    "pretrained_path": "aaron-ser/smolvla-rover",
     "chunk_size": 50,
     "n_action_steps": 50,
     "normalization_mapping": {
@@ -81,7 +81,7 @@
     "optimizer_weight_decay": 1e-10,
     "optimizer_grad_clip_norm": 10.0,
     "scheduler_warmup_steps": 1000,
-    "scheduler_decay_steps": 20000,
+    "scheduler_decay_steps": 10000,
     "scheduler_decay_lr": 2.5e-06,
     "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
     "load_vlm_weights": true,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1c6799dd53e683fcea716b9ba704cae331bf1ce8812956bcfe0da45cc6856c87
+oid sha256:006d272fae5a0e2986a67629366c6467f6d77bc88768e3f8a271aa6977e9cff5
 size 906712520

train_config.json

@@ -131,7 +131,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "lerobot/smolvla_base",
+        "pretrained_path": "aaron-ser/smolvla-rover",
         "chunk_size": 50,
         "n_action_steps": 50,
         "normalization_mapping": {
@@ -163,7 +163,7 @@
         "optimizer_weight_decay": 1e-10,
         "optimizer_grad_clip_norm": 10.0,
         "scheduler_warmup_steps": 1000,
-        "scheduler_decay_steps": 20000,
+        "scheduler_decay_steps": 10000,
         "scheduler_decay_lr": 2.5e-06,
         "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
         "load_vlm_weights": true,
@@ -179,13 +179,13 @@
         "max_period": 4.0,
         "rtc_config": null
     },
-    "output_dir": "outputs/training/smolvla-rover",
+    "output_dir": "outputs/trainings/smolvla-rover",
     "job_name": "smolvla-rover-rover-pickup",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 25000,
+    "steps": 12000,
     "eval_freq": 20000,
     "log_freq": 50,
     "tolerance_s": 0.0001,
@@ -206,7 +206,7 @@
     "scheduler": {
         "type": "cosine_decay_with_warmup",
         "num_warmup_steps": 1000,
-        "num_decay_steps": 20000,
+        "num_decay_steps": 10000,
         "peak_lr": 0.0001,
         "decay_lr": 2.5e-06
     },
@@ -221,7 +221,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "lzxean5x",
+        "run_id": "vcjxrgxm",
         "mode": null
     },
     "peft": null,