Upload policy weights, train config and readme

README.md

@@ -1,21 +1,22 @@
 ---
+base_model: lerobot/smolvla_base
 datasets: joadv/so101-test
 library_name: lerobot
 license: apache-2.0
-model_name: act
+model_name: smolvla
 pipeline_tag: robotics
 tags:
 - lerobot
-- act
+- 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).

config.json

@@ -1,8 +1,8 @@
 {
-    "type": "act",
+    "type": "smolvla",
     "n_obs_steps": 1,
     "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
+        "VISUAL": "IDENTITY",
         "STATE": "MEAN_STD",
         "ACTION": "MEAN_STD"
     },
@@ -42,28 +42,47 @@
     "use_amp": false,
     "push_to_hub": true,
     "repo_id": "joadv/my_policy",
-    "private": null,
+    "private": true,
     "tags": null,
     "license": null,
-    "chunk_size": 100,
-    "n_action_steps": 100,
-    "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
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "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": 10.0,
+    "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": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ac271324e90c4994bb10902e114cb74f6dac08775ceb2078d67c2b60cff537c2
-size 206701064
+oid sha256:db24e18f5ae0097c54195de6717f1a94f55e6dae657e682cb6b9dee3a89ddd38
+size 906713296

train_config.json

@@ -66,10 +66,10 @@
     },
     "env": null,
     "policy": {
-        "type": "act",
+        "type": "smolvla",
         "n_obs_steps": 1,
         "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
+            "VISUAL": "IDENTITY",
             "STATE": "MEAN_STD",
             "ACTION": "MEAN_STD"
         },
@@ -109,38 +109,57 @@
         "use_amp": false,
         "push_to_hub": true,
         "repo_id": "joadv/my_policy",
-        "private": null,
+        "private": true,
         "tags": null,
         "license": null,
-        "chunk_size": 100,
-        "n_action_steps": 100,
-        "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
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "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": 10.0,
+        "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": true,
+        "add_image_special_tokens": false,
+        "attention_mode": "cross_attn",
+        "prefix_length": 0,
+        "pad_language_to": "max_length",
+        "num_expert_layers": 0,
+        "num_vlm_layers": 16,
+        "self_attn_every_n_layers": 2,
+        "expert_width_multiplier": 0.75,
+        "min_period": 0.004,
+        "max_period": 4.0
     },
-    "output_dir": "outputs/train/act_so101_test",
-    "job_name": "act_so101_test",
+    "output_dir": "outputs/train/my_smolvla",
+    "job_name": "my_smolvla_training",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 8,
-    "steps": 100000,
+    "batch_size": 64,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -148,16 +167,22 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 1e-05,
-        "weight_decay": 0.0001,
+        "lr": 0.0001,
+        "weight_decay": 1e-10,
         "grad_clip_norm": 10.0,
         "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": 0.0001,
+        "decay_lr": 2.5e-06
+    },
     "eval": {
         "n_episodes": 50,
         "batch_size": 50,