Upload policy weights, train config and readme

README.md

@@ -1,21 +1,22 @@
 ---
+base_model: lerobot/smolvla_base
 datasets: hrl7/so101-move
 library_name: lerobot
 license: apache-2.0
-model_name: act
+model_name: smolvla
 pipeline_tag: robotics
 tags:
-- act
-- robotics
 - lerobot
+- smolvla
+- robotics
 ---
 
-# Model Card for act
+# Model Card for smolvla
 
 <!-- Provide a quick summary of what the model is/does. -->
 
 
-[Action Chunking with Transformers (ACT)](https://huggingface.co/papers/2304.13705) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates.
+[SmolVLA](https://huggingface.co/papers/2506.01844) is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware.
 
 
 This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).

adapter_config.json

@@ -0,0 +1,41 @@
+{
+  "alora_invocation_tokens": null,
+  "alpha_pattern": {},
+  "arrow_config": null,
+  "auto_mapping": {
+    "base_model_class": "SmolVLAPolicy",
+    "parent_library": "lerobot.policies.smolvla.modeling_smolvla"
+  },
+  "base_model_name_or_path": "lerobot/smolvla_base",
+  "bias": "none",
+  "corda_config": null,
+  "ensure_weight_tying": false,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": true,
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 8,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": [],
+  "peft_type": "LORA",
+  "peft_version": "0.18.1",
+  "qalora_group_size": 16,
+  "r": 16,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": "(model\\.vlm_with_expert\\.lm_expert\\..*\\.(q|v)_proj|model\\.(state_proj|action_in_proj|action_out_proj|action_time_mlp_in|action_time_mlp_out))",
+  "target_parameters": null,
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_qalora": false,
+  "use_rslora": false
+}

adapter_model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc22401f46708353c158e6d9731a9300d9e011668fe8cadf4c52333c6bb2a1c7
+size 2981888

config.json

@@ -1,5 +1,5 @@
 {
-    "type": "act",
+    "type": "smolvla",
     "n_obs_steps": 1,
     "input_features": {
         "observation.state": {
@@ -43,37 +43,59 @@
     },
     "device": "cuda",
     "use_amp": false,
-    "use_peft": false,
+    "use_peft": true,
     "push_to_hub": true,
     "repo_id": "hrl7/so101-move",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
-    "chunk_size": 100,
-    "n_action_steps": 100,
+    "pretrained_path": "lerobot/smolvla_base",
+    "chunk_size": 50,
+    "n_action_steps": 50,
     "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
+        "VISUAL": "IDENTITY",
         "STATE": "MEAN_STD",
         "ACTION": "MEAN_STD"
     },
-    "vision_backbone": "resnet18",
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": false,
-    "pre_norm": false,
-    "dim_model": 512,
-    "n_heads": 8,
-    "dim_feedforward": 3200,
-    "feedforward_activation": "relu",
-    "n_encoder_layers": 4,
-    "n_decoder_layers": 1,
-    "use_vae": true,
-    "latent_dim": 32,
-    "n_vae_encoder_layers": 4,
-    "temporal_ensemble_coeff": null,
-    "dropout": 0.1,
-    "kl_weight": 10.0,
-    "optimizer_lr": 1e-05,
-    "optimizer_weight_decay": 0.0001,
-    "optimizer_lr_backbone": 1e-05
+    "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": 0.001,
+    "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": 0.0001,
+    "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"
 }

train_config.json

@@ -81,7 +81,7 @@
     },
     "env": null,
     "policy": {
-        "type": "act",
+        "type": "smolvla",
         "n_obs_steps": 1,
         "input_features": {
             "observation.state": {
@@ -125,82 +125,116 @@
         },
         "device": "cuda",
         "use_amp": false,
-        "use_peft": false,
+        "use_peft": true,
         "push_to_hub": true,
         "repo_id": "hrl7/so101-move",
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
-        "chunk_size": 100,
-        "n_action_steps": 100,
+        "pretrained_path": "lerobot/smolvla_base",
+        "chunk_size": 50,
+        "n_action_steps": 50,
         "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
+            "VISUAL": "IDENTITY",
             "STATE": "MEAN_STD",
             "ACTION": "MEAN_STD"
         },
-        "vision_backbone": "resnet18",
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": false,
-        "pre_norm": false,
-        "dim_model": 512,
-        "n_heads": 8,
-        "dim_feedforward": 3200,
-        "feedforward_activation": "relu",
-        "n_encoder_layers": 4,
-        "n_decoder_layers": 1,
-        "use_vae": true,
-        "latent_dim": 32,
-        "n_vae_encoder_layers": 4,
-        "temporal_ensemble_coeff": null,
-        "dropout": 0.1,
-        "kl_weight": 10.0,
-        "optimizer_lr": 1e-05,
-        "optimizer_weight_decay": 0.0001,
-        "optimizer_lr_backbone": 1e-05
+        "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": 0.001,
+        "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": 0.0001,
+        "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"
     },
-    "output_dir": "outputs/train/act_so101_move",
-    "job_name": "act_so101_move",
+    "output_dir": "outputs/train/smolvla_so101_move",
+    "job_name": "smolvla_so101_move",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
-    "num_workers": 6,
+    "num_workers": 4,
     "batch_size": 32,
-    "steps": 5000,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 5000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 1e-05,
-        "weight_decay": 0.0001,
-        "grad_clip_norm": 10.0,
+        "lr": 0.001,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10,
         "betas": [
             0.9,
-            0.999
+            0.95
         ],
         "eps": 1e-08
     },
-    "scheduler": null,
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 0.001,
+        "decay_lr": 0.0001
+    },
     "eval": {
         "n_episodes": 50,
         "batch_size": 50,
         "use_async_envs": false
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": null,
+        "run_id": "dfe63xp3",
         "mode": null,
         "add_tags": true
     },
-    "peft": null,
+    "peft": {
+        "target_modules": null,
+        "full_training_modules": null,
+        "method_type": "LORA",
+        "init_type": null,
+        "r": 16
+    },
     "use_rabc": false,
     "rabc_progress_path": null,
     "rabc_kappa": 0.01,