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
 - lerobot
 - robotics
+- smolvla
 ---
 
 # Model Card for smolvla

config.json

@@ -1,6 +1,6 @@
 {
     "type": "smolvla",
-    "n_obs_steps": 1,
+    "n_obs_steps": 5,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -40,7 +40,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/smolvla_training_with_5_obs_steps/checkpoints/last/pretrained_model",
     "chunk_size": 50,
     "n_action_steps": 50,
     "normalization_mapping": {
@@ -70,7 +70,7 @@
     ],
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 1e-10,
-    "optimizer_grad_clip_norm": 10,
+    "optimizer_grad_clip_norm": 10.0,
     "scheduler_warmup_steps": 1000,
     "scheduler_decay_steps": 30000,
     "scheduler_decay_lr": 2.5e-06,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:08b07b033a7ca8d957d55db0fbe38193c54735959eb134e0db6d86a8f0d6ef3e
+oid sha256:385fa0078e4f82a460f3b8132fa3c724903bca6c0f7c41e8474659b02759a974
 size 1197789224

train_config.json

@@ -68,7 +68,7 @@
     "env": null,
     "policy": {
         "type": "smolvla",
-        "n_obs_steps": 1,
+        "n_obs_steps": 5,
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -108,7 +108,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/smolvla_training_with_5_obs_steps/checkpoints/last/pretrained_model",
         "chunk_size": 50,
         "n_action_steps": 50,
         "normalization_mapping": {
@@ -138,7 +138,7 @@
         ],
         "optimizer_eps": 1e-08,
         "optimizer_weight_decay": 1e-10,
-        "optimizer_grad_clip_norm": 10,
+        "optimizer_grad_clip_norm": 10.0,
         "scheduler_warmup_steps": 1000,
         "scheduler_decay_steps": 30000,
         "scheduler_decay_lr": 2.5e-06,
@@ -155,9 +155,9 @@
         "min_period": 0.004,
         "max_period": 4.0
     },
-    "output_dir": "outputs/train/smolvla_training",
-    "job_name": "smolvla_training",
-    "resume": false,
+    "output_dir": "outputs/train/smolvla_training_with_5_obs_steps",
+    "job_name": "smolvla_training_5_obs_steps",
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 64,
@@ -171,7 +171,7 @@
         "type": "adamw",
         "lr": 0.0001,
         "weight_decay": 1e-10,
-        "grad_clip_norm": 10,
+        "grad_clip_norm": 10.0,
         "betas": [
             0.9,
             0.95
@@ -196,7 +196,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "ubqvbl2h",
+        "run_id": "0yfrm0mt",
         "mode": null
     }
 }