Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ license: apache-2.0
 model_name: smolvla
 pipeline_tag: robotics
 tags:
-- lerobot
 - robotics
+- lerobot
 - smolvla
 ---
 

config.json

@@ -86,7 +86,7 @@
     "expert_width_multiplier": 0.75,
     "min_period": 0.004,
     "max_period": 4.0,
-    "fusion_features_path": "new/fusion_featuresV4",
+    "fusion_features_path": "new/fusion_featuresV5",
     "use_visual_fusion": true,
     "visual_feature_dim": 768,
     "text_embedding_dim": 960,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0af1273cdc24e332f474013dd0735acc7dc948ec7452d3e6ce3c765206da0753
+oid sha256:e991831d4c86011008afe224d5c6d956e035b46a36c83f0ce89403a5ae0a32f9
 size 929666168

train_config.json

@@ -81,7 +81,7 @@
     },
     "env": {
         "type": "libero",
-        "task": "libero_goal",
+        "task": "libero_spatial",
         "fps": 30,
         "features": {
             "action": {
@@ -218,7 +218,7 @@
         "expert_width_multiplier": 0.75,
         "min_period": 0.004,
         "max_period": 4.0,
-        "fusion_features_path": "new/fusion_featuresV4",
+        "fusion_features_path": "new/fusion_featuresV5",
         "use_visual_fusion": true,
         "visual_feature_dim": 768,
         "text_embedding_dim": 960,
@@ -230,7 +230,7 @@
         ],
         "attention_pool_output_dim": null
     },
-    "output_dir": "checkpoint/libero/libero_goal64",
+    "output_dir": "checkpoint/libero/V5-libero_spatial64",
     "job_name": "libero_smolvla",
     "resume": false,
     "seed": 1000,