CoRL2026-CSI/smolVLA-IsaacLab-picknplace-50epoch

smolVLA · IsaacLab SO101 Pick & Place (single-task, 50 epoch)

lerobot/smolvla_base 를 IsaacLab 시뮬레이션 SO101 pick & place 단일 task 데이터셋 CoRL2026-CSI/IsaacLab-SO101_pick_place_baseCaP_100epi_10fps 으로 50 epoch 파인튜닝한 SmolVLA 정책.

이 체크포인트는 full model (model.safetensors) 입니다 — LoRA adapter 가 아니며, 그대로 로드해 사용합니다.

Model details

• Base model: lerobot/smolvla_base (SmolVLM2-500M-Video-Instruct VLM + action expert)
• Robot: SO101 (6-DOF, gripper 포함) — IsaacLab 시뮬레이션
• Cameras: top, left_wrist (480×640) — 정책 키 camera1(left_wrist) / camera2(top) 로 rename
• Inputs: observation.state[6] + 카메라 2개 + language instruction (task)
• Output: action[6] (joint position)
• Action chunking: chunk_size=50, n_action_steps=50

학습 방식

VLM frozen + action expert only — SmolVLA 공식 표준 학습 방식 (SmolVLA paper, arXiv:2506.01844).

구성요소	상태
VLM backbone (SmolVLM2)	❄️ 완전 Frozen (freeze_vision_encoder=true)
Action expert	🔥 학습 (train_expert_only=true)
PEFT / LoRA	사용 안 함

Training hyperparameters

항목	값
Dataset	IsaacLab-SO101_pick_place_baseCaP_100epi_10fps — 100 episodes / 34,264 frames / 10 fps
Epochs / Steps	50 epoch / 6,700 steps
Global batch size	256 (micro batch 128 × 2 GPU)
Optimizer	AdamW — lr 1e-4, weight_decay 1e-10, grad_clip_norm 10.0
LR scheduler	cosine_decay_with_warmup — warmup 1,000 / decay 30,000 / peak_lr 1e-4 / decay_lr 2.5e-6
chunk_size / n_action_steps	50 / 50
Seed	1000
Dataloader workers	16
Mixed precision	no (bf16 inference)
Image augmentation	ColorJitter (brightness/contrast/saturation/hue) + SharpnessJitter — 기하학적 변형(회전/이동/반전) 없음 (VLA 좌우 의미 보존)
Hardware	2 × NVIDIA H100 80GB
Final loss	0.013

Camera rename

LeRobot dataset 의 카메라 키와 SmolVLA 정책 키 매핑:

Dataset key	Policy key
observation.images.left_wrist	observation.images.camera1
observation.images.top	observation.images.camera2

Input / Output 규정

• Input: observation.state[6] (joint position) + 카메라 2개 + language instruction(task) 만
• Output: action[6] (joint position) 만
• 데이터셋의 ee_pos / gripper_binary / state.radian_urdf0 / action.radian_urdf0 는 학습에서 제외
• SmolVLA 정책은 카메라 슬롯이 3개(camera1/2/3)로 고정이라 camera3 슬롯이 config 에 존재하지만, 데이터셋 카메라는 2개뿐이라 실제로 데이터가 흐르는 카메라는 2개입니다.

Usage

from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy

policy = SmolVLAPolicy.from_pretrained("CoRL2026-CSI/smolVLA-IsaacLab-picknplace-50epoch")

Citation / Acknowledgement

Built on top of LeRobot and the SmolVLA base checkpoint. Project: CoRL 2026 CSI submission.

Framework versions

• LeRobot 0.5.2