| # eval3_sanitycheck |
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| SmolVLA sanity-check overfit policy for Eval 3 coke-can placement. |
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| - 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` |
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| Important inference settings are stored in `config.json`: |
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| - `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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