checkpoints/003000/pretrained_model/README.md

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]