metadata
library_name: lerobot
tags:
- smolvla
- robotics
- lerobot
- bimanual
- so101
- armnetbench
base_model: lerobot/smolvla_base
datasets:
- villekuosmanen/armnetbench_transfer_cube
smolvla_transfer_cube
Fine-tuned SmolVLA for bimanual SO101 (12-dim action/state).
| Base model | lerobot/smolvla_base |
| Dataset | villekuosmanen/armnetbench_transfer_cube |
| Checkpoints | 5,000 and 10,000 steps |
| Training | Vast.ai 4xH100, batch 128, ~8.5h total |
| Action dim | 12 (bimanual SO101, 6 per arm) |
| Cameras | top, left_wrist, right_wrist |
| W&B | smolvla_transfer_cube |
Checkpoints
checkpoints/005000/pretrained_model/checkpoints/010000/pretrained_model/
Usage
from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
policy = SmolVLAPolicy.from_pretrained("pravsels/smolvla_transfer_cube", subfolder="checkpoints/010000/pretrained_model")
Training Logs
Full training curves and metrics: https://wandb.ai/pravsels/smolvla_transfer_cube/runs/w2j060oy