| --- |
| 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](https://huggingface.co/lerobot/smolvla_base) for bimanual SO101 (12-dim action/state). |
|
|
| | | | |
| |---|---| |
| | **Base model** | [lerobot/smolvla_base](https://huggingface.co/lerobot/smolvla_base) | |
| | **Dataset** | [villekuosmanen/armnetbench_transfer_cube](https://huggingface.co/datasets/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](https://wandb.ai/pravsels/smolvla_transfer_cube/runs/w2j060oy) | |
|
|
| ## Checkpoints |
|
|
| - `checkpoints/005000/pretrained_model/` |
| - `checkpoints/010000/pretrained_model/` |
|
|
| ## Usage |
|
|
| ```python |
| 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](https://wandb.ai/pravsels/smolvla_transfer_cube/runs/w2j060oy) |
|
|
