metadata
license: apache-2.0
tags:
- robotics
- manipulation
- smolvla
- vision-language-action
base_model: lerobot/smolvla_base
Crab SmolVLA — Left Arm
Fine-tuned SmolVLA for left-arm (6-DOF) manipulation on the Crab bimanual mobile manipulator.
Model Details
- Base model:
lerobot/smolvla_base(450M params) - Action space: 6-DOF absolute joint positions (indices 0–5)
- Training data: 27 demonstrations across 3 tasks (eggs, can, waffles)
- Best validation loss: 0.46
- Training: 50K steps, RTX 4090, ~3.5 hrs
Usage
import torch
checkpoint = torch.load("best/model.pt", map_location="cpu")
See Advanced-Robotic-Manipulation/crab for full inference pipeline.
Training Config
Training configuration is provided in config.yaml. Key settings:
- Image size: 256×256, 3 cameras
- Data augmentation: ColorJitter + RandomResizedCrop
- Optimizer: AdamW, lr=1e-4, weight_decay=0.01
- Effective batch size: 32 (8 × 4 gradient accumulation)
Citation
If you use this model, please cite our paper:
@article{gubernatorov2026hapticvla,
title={HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing},
author={Gubernatorov, Konstantin and Sannikov, Mikhail and Mikhalchuk, Ilya and Kuznetsov, Egor and Artemov, Makar and Ouwatobi, Ogunwoye Faith and Fernando, Marcelino and Asanov, Artem and Guo, Ziang and Tsetserukou, Dzmitry},
journal={arXiv preprint arXiv:2603.15257},
year={2026}
}