Upload policy weights, train config and readme

README.md

@@ -6,9 +6,9 @@ license: apache-2.0
 model_name: smolvla
 pipeline_tag: robotics
 tags:
-- smolvla
-- robotics
 - lerobot
+- robotics
+- smolvla
 ---
 
 # Model Card for smolvla

config.json

@@ -85,5 +85,16 @@
     "self_attn_every_n_layers": 2,
     "expert_width_multiplier": 0.75,
     "min_period": 0.004,
-    "max_period": 4.0
+    "max_period": 4.0,
+    "fusion_features_path": "new/fusion_featuresV4",
+    "use_visual_fusion": true,
+    "visual_feature_dim": 768,
+    "text_embedding_dim": 960,
+    "fusion_num_heads": 8,
+    "use_spatial_features": true,
+    "spatial_feature_map_size": [
+        7,
+        7
+    ],
+    "attention_pool_output_dim": null
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6ed3702fa8e1eba4f3b7e0a7ab54b5de83be1eb8192a1d6c8f2e8272ce7c3217
-size 906712520
+oid sha256:0af1273cdc24e332f474013dd0735acc7dc948ec7452d3e6ce3c765206da0753
+size 929666168

train_config.json

@@ -217,7 +217,18 @@
         "self_attn_every_n_layers": 2,
         "expert_width_multiplier": 0.75,
         "min_period": 0.004,
-        "max_period": 4.0
+        "max_period": 4.0,
+        "fusion_features_path": "new/fusion_featuresV4",
+        "use_visual_fusion": true,
+        "visual_feature_dim": 768,
+        "text_embedding_dim": 960,
+        "fusion_num_heads": 8,
+        "use_spatial_features": true,
+        "spatial_feature_map_size": [
+            7,
+            7
+        ],
+        "attention_pool_output_dim": null
     },
     "output_dir": "checkpoint/libero/libero_goal64",
     "job_name": "libero_smolvla",