80k steps try

config.json

@@ -8,7 +8,7 @@
                 7
             ]
         },
-        "observation.images.camera2": {
+        "observation.images.cam_top": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -16,7 +16,7 @@
                 640
             ]
         },
-        "observation.images.camera1": {
+        "observation.images.cam_side": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -75,7 +75,7 @@
     "scheduler_decay_steps": 30000,
     "scheduler_decay_lr": 2.5e-06,
     "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
-    "load_vlm_weights": false,
+    "load_vlm_weights": true,
     "add_image_special_tokens": false,
     "attention_mode": "cross_attn",
     "prefix_length": -1,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b00373a1e0a9a51f40f583557bd08f8ca7bd9d7baaeacdb46e351aa57a8bf514
-size 1197789224
+oid sha256:98fcc1cc909d26361d5b74ed6418c3d18f879af535ee21971c47cff848193eac
+size 906712520

train_config.json

@@ -90,7 +90,7 @@
                     7
                 ]
             },
-            "observation.images.camera2": {
+            "observation.images.cam_top": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -98,7 +98,7 @@
                     640
                 ]
             },
-            "observation.images.camera1": {
+            "observation.images.cam_side": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -157,7 +157,7 @@
         "scheduler_decay_steps": 30000,
         "scheduler_decay_lr": 2.5e-06,
         "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
-        "load_vlm_weights": false,
+        "load_vlm_weights": true,
         "add_image_special_tokens": false,
         "attention_mode": "cross_attn",
         "prefix_length": -1,
@@ -169,17 +169,17 @@
         "min_period": 0.004,
         "max_period": 4.0
     },
-    "output_dir": "outputs/train/ur10_sim_2",
-    "job_name": "smolvla",
+    "output_dir": "outputs/train/smolvla_scratch",
+    "job_name": "smolvla_scratch_01",
     "resume": false,
     "seed": 1000,
-    "num_workers": 4,
+    "num_workers": 8,
     "batch_size": 64,
-    "steps": 30000,
+    "steps": 200000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -210,7 +210,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "s4bo96jp",
+        "run_id": "i75lk626",
         "mode": null
     },
     "checkpoint_path": null,