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config.json

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+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                720,
+                1280
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "push_to_hub": true,
+    "repo_id": "yutaro-kimura-acs/so101_pp_blue_and_red_policy",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "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

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+oid sha256:fc0f5b3383ea7711bbfb3d93d4d5a095d9cf9274092e999f3ebff0ea219a29eb
+size 906713296

train_config.json

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+{
+    "dataset": {
+        "repo_id": "yutaro-kimura-acs/so101_pp_blue_and_red",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "smolvla",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    720,
+                    1280
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
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+        "device": "cuda",
+        "use_amp": false,
+        "push_to_hub": true,
+        "repo_id": "yutaro-kimura-acs/so101_pp_blue_and_red_policy",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "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
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+        "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/2025-07-24/19-18-24_smolvla",
+    "job_name": "smolvla",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 64,
+    "steps": 200000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
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+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-10,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "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,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "uawkahyu",
+        "mode": null
+    }
+}