| # eval2_90 | |
| SmolVLA policy for Eval 2. | |
| Dataset: | |
| - `robot-learning-group47/eval2_90_chengming_promptaug_v1` | |
| Training setup: | |
| - Base policy: `lerobot/smolvla_base` | |
| - One real camera: `observation.images.front` | |
| - Camera mapping: `observation.images.front` → `observation.images.camera1` | |
| - `empty_cameras=2` | |
| - Dynamic prompt sampling: random prompt sampled within the same layout-target bucket during training | |
| - `n_obs_steps=1` | |
| - `chunk_size=50` | |
| - `n_action_steps=50` | |
| - Batch size: 64 | |
| - Steps: 30,000 | |
| - Save frequency: 2,500 | |
| - `train_expert_only=true` | |
| - `freeze_vision_encoder=true` | |
| - `num_vlm_layers=16` | |
| - Learning rate: `1e-4` | |
| - Weight decay: `1e-10` | |
| The repo root contains the latest checkpoint for direct loading. | |
| All intermediate checkpoints are stored under: | |
| `checkpoints/` | |