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47abe85 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 | # eval3_sanitycheck
SmolVLA sanity-check overfit policy for Eval 3 coke-can placement.
- Base VLM: `HuggingFaceTB/SmolVLM2-500M-Video-Instruct`
- Policy type: `smolvla`
- Dataset: `robot-learning-group47/eval3_overfit20`
- Local dataset root: `/data/lerobot_datasets/robot-learning-group47/eval3_overfit20`
- Source episodes: `0,1,6,7,12,13,18,19,24,25,30,31,36,37,42,43,48,49,54,55`
- Steps: `3000`
- Batch size: `8`
- Image augmentation: disabled
- Trainable params: expert/state/action heads only, vision/VLM frozen
- Final training loss: approximately `0.182`
Important inference settings are stored in `config.json`:
- `chunk_size=50`
- `n_action_steps=50`
- `num_steps=10`
- `attention_mode=self_attn`
- `num_vlm_layers=8`
- `num_expert_layers=4`
- `resize_imgs_with_padding=[512,512]`
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