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- checkpoints/002000/pretrained_model/README.md +204 -0
- checkpoints/002000/pretrained_model/adapter_config.json +46 -0
- checkpoints/002000/pretrained_model/adapter_model.safetensors +3 -0
- checkpoints/002000/pretrained_model/config.json +101 -0
- checkpoints/002000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- checkpoints/002000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/002000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
- checkpoints/002000/pretrained_model/train_config.json +250 -0
- checkpoints/002000/training_state/optimizer_param_groups.json +697 -0
- checkpoints/002000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/002000/training_state/rng_state.safetensors +3 -0
- checkpoints/002000/training_state/scheduler_state.json +15 -0
- checkpoints/002000/training_state/training_step.json +3 -0
- checkpoints/004000/pretrained_model/README.md +204 -0
- checkpoints/004000/pretrained_model/adapter_config.json +46 -0
- checkpoints/004000/pretrained_model/adapter_model.safetensors +3 -0
- checkpoints/004000/pretrained_model/config.json +101 -0
- checkpoints/004000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/004000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- checkpoints/004000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/004000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
- checkpoints/004000/pretrained_model/train_config.json +250 -0
- checkpoints/004000/training_state/optimizer_param_groups.json +697 -0
- checkpoints/004000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/004000/training_state/rng_state.safetensors +3 -0
- checkpoints/004000/training_state/scheduler_state.json +15 -0
- checkpoints/004000/training_state/training_step.json +3 -0
- checkpoints/006000/pretrained_model/README.md +204 -0
- checkpoints/006000/pretrained_model/adapter_config.json +46 -0
- checkpoints/006000/pretrained_model/adapter_model.safetensors +3 -0
- checkpoints/006000/pretrained_model/config.json +101 -0
- checkpoints/006000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/006000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- checkpoints/006000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/006000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
- checkpoints/006000/pretrained_model/train_config.json +250 -0
- checkpoints/006000/training_state/optimizer_param_groups.json +697 -0
- checkpoints/006000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/006000/training_state/rng_state.safetensors +3 -0
- checkpoints/006000/training_state/scheduler_state.json +15 -0
- checkpoints/006000/training_state/training_step.json +3 -0
- checkpoints/008000/pretrained_model/README.md +204 -0
- checkpoints/008000/pretrained_model/adapter_config.json +46 -0
- checkpoints/008000/pretrained_model/adapter_model.safetensors +3 -0
- checkpoints/008000/pretrained_model/config.json +101 -0
- checkpoints/008000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/008000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- checkpoints/008000/pretrained_model/policy_preprocessor.json +89 -0
- checkpoints/008000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors +3 -0
checkpoints/002000/pretrained_model/README.md
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| 1 |
+
---
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| 2 |
+
library_name: peft
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tags:
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| 4 |
+
- base_model:adapter:outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model
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| 5 |
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- lora
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+
---
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| 7 |
+
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| 8 |
+
# Model Card for Model ID
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| 9 |
+
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| 10 |
+
<!-- Provide a quick summary of what the model is/does. -->
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| 11 |
+
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| 12 |
+
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+
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| 14 |
+
## Model Details
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| 15 |
+
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| 16 |
+
### Model Description
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| 17 |
+
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| 18 |
+
<!-- Provide a longer summary of what this model is. -->
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| 19 |
+
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| 20 |
+
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| 21 |
+
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| 22 |
+
- **Developed by:** [More Information Needed]
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| 23 |
+
- **Funded by [optional]:** [More Information Needed]
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| 24 |
+
- **Shared by [optional]:** [More Information Needed]
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| 25 |
+
- **Model type:** [More Information Needed]
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| 26 |
+
- **Language(s) (NLP):** [More Information Needed]
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| 27 |
+
- **License:** [More Information Needed]
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| 28 |
+
- **Finetuned from model [optional]:** [More Information Needed]
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| 29 |
+
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| 30 |
+
### Model Sources [optional]
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| 31 |
+
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| 32 |
+
<!-- Provide the basic links for the model. -->
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| 33 |
+
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| 34 |
+
- **Repository:** [More Information Needed]
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| 35 |
+
- **Paper [optional]:** [More Information Needed]
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+
- **Demo [optional]:** [More Information Needed]
|
| 37 |
+
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| 38 |
+
## Uses
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| 39 |
+
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| 40 |
+
<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
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| 41 |
+
|
| 42 |
+
### Direct Use
|
| 43 |
+
|
| 44 |
+
<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
|
| 45 |
+
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| 46 |
+
[More Information Needed]
|
| 47 |
+
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| 48 |
+
### Downstream Use [optional]
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| 49 |
+
|
| 50 |
+
<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
|
| 51 |
+
|
| 52 |
+
[More Information Needed]
|
| 53 |
+
|
| 54 |
+
### Out-of-Scope Use
|
| 55 |
+
|
| 56 |
+
<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
|
| 57 |
+
|
| 58 |
+
[More Information Needed]
|
| 59 |
+
|
| 60 |
+
## Bias, Risks, and Limitations
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| 61 |
+
|
| 62 |
+
<!-- This section is meant to convey both technical and sociotechnical limitations. -->
|
| 63 |
+
|
| 64 |
+
[More Information Needed]
|
| 65 |
+
|
| 66 |
+
### Recommendations
|
| 67 |
+
|
| 68 |
+
<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
|
| 69 |
+
|
| 70 |
+
Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
|
| 71 |
+
|
| 72 |
+
## How to Get Started with the Model
|
| 73 |
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| 74 |
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Use the code below to get started with the model.
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| 75 |
+
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| 76 |
+
[More Information Needed]
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| 77 |
+
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| 78 |
+
## Training Details
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| 79 |
+
|
| 80 |
+
### Training Data
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| 81 |
+
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| 82 |
+
<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
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| 83 |
+
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| 84 |
+
[More Information Needed]
|
| 85 |
+
|
| 86 |
+
### Training Procedure
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| 87 |
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| 88 |
+
<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
|
| 89 |
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#### Preprocessing [optional]
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| 91 |
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[More Information Needed]
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| 93 |
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| 94 |
+
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| 95 |
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#### Training Hyperparameters
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| 96 |
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- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
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| 98 |
+
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| 99 |
+
#### Speeds, Sizes, Times [optional]
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| 100 |
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| 101 |
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<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
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| 102 |
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[More Information Needed]
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| 104 |
+
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| 105 |
+
## Evaluation
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| 106 |
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| 107 |
+
<!-- This section describes the evaluation protocols and provides the results. -->
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| 108 |
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+
### Testing Data, Factors & Metrics
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| 110 |
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| 111 |
+
#### Testing Data
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| 112 |
+
|
| 113 |
+
<!-- This should link to a Dataset Card if possible. -->
|
| 114 |
+
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| 115 |
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[More Information Needed]
|
| 116 |
+
|
| 117 |
+
#### Factors
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| 118 |
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| 119 |
+
<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
|
| 120 |
+
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| 121 |
+
[More Information Needed]
|
| 122 |
+
|
| 123 |
+
#### Metrics
|
| 124 |
+
|
| 125 |
+
<!-- These are the evaluation metrics being used, ideally with a description of why. -->
|
| 126 |
+
|
| 127 |
+
[More Information Needed]
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| 128 |
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|
| 129 |
+
### Results
|
| 130 |
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| 131 |
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[More Information Needed]
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| 132 |
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| 133 |
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#### Summary
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| 134 |
+
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| 135 |
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| 136 |
+
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| 137 |
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## Model Examination [optional]
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| 138 |
+
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| 139 |
+
<!-- Relevant interpretability work for the model goes here -->
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| 140 |
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| 141 |
+
[More Information Needed]
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| 142 |
+
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| 143 |
+
## Environmental Impact
|
| 144 |
+
|
| 145 |
+
<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
|
| 146 |
+
|
| 147 |
+
Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
|
| 148 |
+
|
| 149 |
+
- **Hardware Type:** [More Information Needed]
|
| 150 |
+
- **Hours used:** [More Information Needed]
|
| 151 |
+
- **Cloud Provider:** [More Information Needed]
|
| 152 |
+
- **Compute Region:** [More Information Needed]
|
| 153 |
+
- **Carbon Emitted:** [More Information Needed]
|
| 154 |
+
|
| 155 |
+
## Technical Specifications [optional]
|
| 156 |
+
|
| 157 |
+
### Model Architecture and Objective
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| 158 |
+
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| 159 |
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[More Information Needed]
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| 160 |
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| 161 |
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### Compute Infrastructure
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| 162 |
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| 163 |
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[More Information Needed]
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| 164 |
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| 165 |
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#### Hardware
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| 166 |
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| 167 |
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[More Information Needed]
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| 168 |
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| 169 |
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#### Software
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| 170 |
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| 171 |
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[More Information Needed]
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| 172 |
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| 173 |
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## Citation [optional]
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| 174 |
+
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| 175 |
+
<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
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| 176 |
+
|
| 177 |
+
**BibTeX:**
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| 178 |
+
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| 179 |
+
[More Information Needed]
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| 180 |
+
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| 181 |
+
**APA:**
|
| 182 |
+
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| 183 |
+
[More Information Needed]
|
| 184 |
+
|
| 185 |
+
## Glossary [optional]
|
| 186 |
+
|
| 187 |
+
<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
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| 188 |
+
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| 189 |
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[More Information Needed]
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| 190 |
+
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| 191 |
+
## More Information [optional]
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| 192 |
+
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| 193 |
+
[More Information Needed]
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| 194 |
+
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| 195 |
+
## Model Card Authors [optional]
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| 196 |
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| 197 |
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[More Information Needed]
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| 198 |
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| 199 |
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## Model Card Contact
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| 200 |
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| 201 |
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[More Information Needed]
|
| 202 |
+
### Framework versions
|
| 203 |
+
|
| 204 |
+
- PEFT 0.19.1
|
checkpoints/002000/pretrained_model/adapter_config.json
ADDED
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{
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| 2 |
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"alora_invocation_tokens": null,
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| 3 |
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"alpha_pattern": {},
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| 4 |
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"arrow_config": null,
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| 5 |
+
"auto_mapping": {
|
| 6 |
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"base_model_class": "SmolVLAPolicy",
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| 7 |
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"parent_library": "lerobot.policies.smolvla.modeling_smolvla"
|
| 8 |
+
},
|
| 9 |
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"base_model_name_or_path": "outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model",
|
| 10 |
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"bias": "none",
|
| 11 |
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"corda_config": null,
|
| 12 |
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"ensure_weight_tying": false,
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| 13 |
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"eva_config": null,
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| 14 |
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"exclude_modules": null,
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| 15 |
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"fan_in_fan_out": false,
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| 16 |
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"inference_mode": true,
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| 17 |
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"init_lora_weights": true,
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| 18 |
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"layer_replication": null,
|
| 19 |
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"layers_pattern": null,
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| 20 |
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"layers_to_transform": null,
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| 21 |
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"loftq_config": {},
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| 22 |
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"lora_alpha": 8,
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| 23 |
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"lora_bias": false,
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| 24 |
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"lora_dropout": 0.0,
|
| 25 |
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"lora_ga_config": null,
|
| 26 |
+
"megatron_config": null,
|
| 27 |
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"megatron_core": "megatron.core",
|
| 28 |
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"modules_to_save": [],
|
| 29 |
+
"peft_type": "LORA",
|
| 30 |
+
"peft_version": "0.19.1",
|
| 31 |
+
"qalora_group_size": 16,
|
| 32 |
+
"r": 64,
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| 33 |
+
"rank_pattern": {},
|
| 34 |
+
"revision": null,
|
| 35 |
+
"target_modules": [
|
| 36 |
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"q_proj",
|
| 37 |
+
"v_proj"
|
| 38 |
+
],
|
| 39 |
+
"target_parameters": null,
|
| 40 |
+
"task_type": null,
|
| 41 |
+
"trainable_token_indices": null,
|
| 42 |
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| 46 |
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checkpoints/002000/pretrained_model/adapter_model.safetensors
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| 3 |
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checkpoints/002000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,101 @@
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|
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|
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|
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|
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|
| 86 |
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| 87 |
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|
| 88 |
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|
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| 90 |
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|
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|
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|
| 101 |
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|
checkpoints/002000/pretrained_model/policy_postprocessor.json
ADDED
|
@@ -0,0 +1,32 @@
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|
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|
| 1 |
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{
|
| 2 |
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"name": "policy_postprocessor",
|
| 3 |
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"steps": [
|
| 4 |
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{
|
| 5 |
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"registry_name": "unnormalizer_processor",
|
| 6 |
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"config": {
|
| 7 |
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"eps": 1e-08,
|
| 8 |
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|
| 9 |
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| 10 |
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|
| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"ACTION": "MEAN_STD"
|
| 20 |
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|
| 21 |
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|
| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
|
| 23 |
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|
| 24 |
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{
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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}
|
| 31 |
+
]
|
| 32 |
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}
|
checkpoints/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 6560
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checkpoints/002000/pretrained_model/policy_preprocessor.json
ADDED
|
@@ -0,0 +1,89 @@
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|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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{
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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| 30 |
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| 31 |
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| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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|
| 40 |
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"config": {
|
| 41 |
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"eps": 1e-08,
|
| 42 |
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"features": {
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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"type": "VISUAL",
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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"STATE": "MEAN_STD",
|
| 83 |
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"ACTION": "MEAN_STD"
|
| 84 |
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}
|
| 85 |
+
},
|
| 86 |
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"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 87 |
+
}
|
| 88 |
+
]
|
| 89 |
+
}
|
checkpoints/002000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 6560
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checkpoints/002000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,250 @@
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|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "robot-learning-group47/eval3_toy_video",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
+
0.8,
|
| 17 |
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|
| 18 |
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]
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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]
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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"weight": 1.0,
|
| 33 |
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"type": "ColorJitter",
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"type": "ColorJitter",
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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5.0
|
| 68 |
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],
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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"type": "VISUAL",
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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256
|
| 99 |
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|
| 100 |
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|
| 101 |
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"observation.images.camera2": {
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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"VISUAL": "IDENTITY",
|
| 139 |
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"STATE": "MEAN_STD",
|
| 140 |
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"ACTION": "MEAN_STD"
|
| 141 |
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},
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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512,
|
| 146 |
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512
|
| 147 |
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],
|
| 148 |
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|
| 149 |
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"adapt_to_pi_aloha": false,
|
| 150 |
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"use_delta_joint_actions_aloha": false,
|
| 151 |
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"tokenizer_max_length": 48,
|
| 152 |
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|
| 153 |
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"use_cache": true,
|
| 154 |
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"freeze_vision_encoder": true,
|
| 155 |
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"train_expert_only": true,
|
| 156 |
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"train_state_proj": true,
|
| 157 |
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"optimizer_lr": 0.0001,
|
| 158 |
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"optimizer_betas": [
|
| 159 |
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0.9,
|
| 160 |
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0.95
|
| 161 |
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],
|
| 162 |
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"optimizer_eps": 1e-08,
|
| 163 |
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"optimizer_weight_decay": 1e-10,
|
| 164 |
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"optimizer_grad_clip_norm": 10.0,
|
| 165 |
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"scheduler_warmup_steps": 1000,
|
| 166 |
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"scheduler_decay_steps": 30000,
|
| 167 |
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"scheduler_decay_lr": 2.5e-06,
|
| 168 |
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 169 |
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"load_vlm_weights": true,
|
| 170 |
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|
| 171 |
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"attention_mode": "cross_attn",
|
| 172 |
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"prefix_length": 0,
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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},
|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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"log_freq": 200,
|
| 194 |
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|
| 195 |
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|
| 196 |
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"save_freq": 2000,
|
| 197 |
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"use_policy_training_preset": true,
|
| 198 |
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"optimizer": {
|
| 199 |
+
"type": "adamw",
|
| 200 |
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"lr": 0.0001,
|
| 201 |
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"weight_decay": 1e-10,
|
| 202 |
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"grad_clip_norm": 10.0,
|
| 203 |
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"betas": [
|
| 204 |
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0.9,
|
| 205 |
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|
| 206 |
+
],
|
| 207 |
+
"eps": 1e-08
|
| 208 |
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},
|
| 209 |
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"scheduler": {
|
| 210 |
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"type": "cosine_decay_with_warmup",
|
| 211 |
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"num_warmup_steps": 1000,
|
| 212 |
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|
| 213 |
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|
| 214 |
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"decay_lr": 2.5e-06
|
| 215 |
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},
|
| 216 |
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"eval": {
|
| 217 |
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"n_episodes": 50,
|
| 218 |
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|
| 219 |
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|
| 220 |
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},
|
| 221 |
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|
| 222 |
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"enable": false,
|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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"add_tags": true
|
| 230 |
+
},
|
| 231 |
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"peft": {
|
| 232 |
+
"target_modules": [
|
| 233 |
+
"q_proj",
|
| 234 |
+
"v_proj"
|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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"r": 64
|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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"rabc_head_mode": "sparse",
|
| 246 |
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|
| 247 |
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|
| 248 |
+
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|
| 249 |
+
"checkpoint_path": null
|
| 250 |
+
}
|
checkpoints/002000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,697 @@
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
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| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 9.893469553577303e-05,
|
| 4 |
+
"betas": [
|
| 5 |
+
0.9,
|
| 6 |
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0.95
|
| 7 |
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],
|
| 8 |
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"eps": 1e-08,
|
| 9 |
+
"weight_decay": 1e-10,
|
| 10 |
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"amsgrad": false,
|
| 11 |
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"maximize": false,
|
| 12 |
+
"foreach": null,
|
| 13 |
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"capturable": false,
|
| 14 |
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"differentiable": false,
|
| 15 |
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"fused": null,
|
| 16 |
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"decoupled_weight_decay": true,
|
| 17 |
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"initial_lr": 0.0001,
|
| 18 |
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|
| 19 |
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|
checkpoints/002000/training_state/optimizer_state.safetensors
ADDED
|
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|
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version https://git-lfs.github.com/spec/v1
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| 3 |
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checkpoints/002000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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checkpoints/002000/training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,15 @@
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| 1 |
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{
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| 2 |
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"base_lrs": [
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| 4 |
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|
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|
| 6 |
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"_step_count": 2001,
|
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"_is_initial": false,
|
| 8 |
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"_get_lr_called_within_step": false,
|
| 9 |
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"_last_lr": [
|
| 10 |
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|
| 11 |
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|
| 12 |
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"lr_lambdas": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
checkpoints/002000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 2000
|
| 3 |
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|
checkpoints/004000/pretrained_model/README.md
ADDED
|
@@ -0,0 +1,204 @@
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| 1 |
+
---
|
| 2 |
+
library_name: peft
|
| 3 |
+
tags:
|
| 4 |
+
- base_model:adapter:outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model
|
| 5 |
+
- lora
|
| 6 |
+
---
|
| 7 |
+
|
| 8 |
+
# Model Card for Model ID
|
| 9 |
+
|
| 10 |
+
<!-- Provide a quick summary of what the model is/does. -->
|
| 11 |
+
|
| 12 |
+
|
| 13 |
+
|
| 14 |
+
## Model Details
|
| 15 |
+
|
| 16 |
+
### Model Description
|
| 17 |
+
|
| 18 |
+
<!-- Provide a longer summary of what this model is. -->
|
| 19 |
+
|
| 20 |
+
|
| 21 |
+
|
| 22 |
+
- **Developed by:** [More Information Needed]
|
| 23 |
+
- **Funded by [optional]:** [More Information Needed]
|
| 24 |
+
- **Shared by [optional]:** [More Information Needed]
|
| 25 |
+
- **Model type:** [More Information Needed]
|
| 26 |
+
- **Language(s) (NLP):** [More Information Needed]
|
| 27 |
+
- **License:** [More Information Needed]
|
| 28 |
+
- **Finetuned from model [optional]:** [More Information Needed]
|
| 29 |
+
|
| 30 |
+
### Model Sources [optional]
|
| 31 |
+
|
| 32 |
+
<!-- Provide the basic links for the model. -->
|
| 33 |
+
|
| 34 |
+
- **Repository:** [More Information Needed]
|
| 35 |
+
- **Paper [optional]:** [More Information Needed]
|
| 36 |
+
- **Demo [optional]:** [More Information Needed]
|
| 37 |
+
|
| 38 |
+
## Uses
|
| 39 |
+
|
| 40 |
+
<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
|
| 41 |
+
|
| 42 |
+
### Direct Use
|
| 43 |
+
|
| 44 |
+
<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
|
| 45 |
+
|
| 46 |
+
[More Information Needed]
|
| 47 |
+
|
| 48 |
+
### Downstream Use [optional]
|
| 49 |
+
|
| 50 |
+
<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
|
| 51 |
+
|
| 52 |
+
[More Information Needed]
|
| 53 |
+
|
| 54 |
+
### Out-of-Scope Use
|
| 55 |
+
|
| 56 |
+
<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
|
| 57 |
+
|
| 58 |
+
[More Information Needed]
|
| 59 |
+
|
| 60 |
+
## Bias, Risks, and Limitations
|
| 61 |
+
|
| 62 |
+
<!-- This section is meant to convey both technical and sociotechnical limitations. -->
|
| 63 |
+
|
| 64 |
+
[More Information Needed]
|
| 65 |
+
|
| 66 |
+
### Recommendations
|
| 67 |
+
|
| 68 |
+
<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
|
| 69 |
+
|
| 70 |
+
Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
|
| 71 |
+
|
| 72 |
+
## How to Get Started with the Model
|
| 73 |
+
|
| 74 |
+
Use the code below to get started with the model.
|
| 75 |
+
|
| 76 |
+
[More Information Needed]
|
| 77 |
+
|
| 78 |
+
## Training Details
|
| 79 |
+
|
| 80 |
+
### Training Data
|
| 81 |
+
|
| 82 |
+
<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
|
| 83 |
+
|
| 84 |
+
[More Information Needed]
|
| 85 |
+
|
| 86 |
+
### Training Procedure
|
| 87 |
+
|
| 88 |
+
<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
|
| 89 |
+
|
| 90 |
+
#### Preprocessing [optional]
|
| 91 |
+
|
| 92 |
+
[More Information Needed]
|
| 93 |
+
|
| 94 |
+
|
| 95 |
+
#### Training Hyperparameters
|
| 96 |
+
|
| 97 |
+
- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
|
| 98 |
+
|
| 99 |
+
#### Speeds, Sizes, Times [optional]
|
| 100 |
+
|
| 101 |
+
<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
|
| 102 |
+
|
| 103 |
+
[More Information Needed]
|
| 104 |
+
|
| 105 |
+
## Evaluation
|
| 106 |
+
|
| 107 |
+
<!-- This section describes the evaluation protocols and provides the results. -->
|
| 108 |
+
|
| 109 |
+
### Testing Data, Factors & Metrics
|
| 110 |
+
|
| 111 |
+
#### Testing Data
|
| 112 |
+
|
| 113 |
+
<!-- This should link to a Dataset Card if possible. -->
|
| 114 |
+
|
| 115 |
+
[More Information Needed]
|
| 116 |
+
|
| 117 |
+
#### Factors
|
| 118 |
+
|
| 119 |
+
<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
|
| 120 |
+
|
| 121 |
+
[More Information Needed]
|
| 122 |
+
|
| 123 |
+
#### Metrics
|
| 124 |
+
|
| 125 |
+
<!-- These are the evaluation metrics being used, ideally with a description of why. -->
|
| 126 |
+
|
| 127 |
+
[More Information Needed]
|
| 128 |
+
|
| 129 |
+
### Results
|
| 130 |
+
|
| 131 |
+
[More Information Needed]
|
| 132 |
+
|
| 133 |
+
#### Summary
|
| 134 |
+
|
| 135 |
+
|
| 136 |
+
|
| 137 |
+
## Model Examination [optional]
|
| 138 |
+
|
| 139 |
+
<!-- Relevant interpretability work for the model goes here -->
|
| 140 |
+
|
| 141 |
+
[More Information Needed]
|
| 142 |
+
|
| 143 |
+
## Environmental Impact
|
| 144 |
+
|
| 145 |
+
<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
|
| 146 |
+
|
| 147 |
+
Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
|
| 148 |
+
|
| 149 |
+
- **Hardware Type:** [More Information Needed]
|
| 150 |
+
- **Hours used:** [More Information Needed]
|
| 151 |
+
- **Cloud Provider:** [More Information Needed]
|
| 152 |
+
- **Compute Region:** [More Information Needed]
|
| 153 |
+
- **Carbon Emitted:** [More Information Needed]
|
| 154 |
+
|
| 155 |
+
## Technical Specifications [optional]
|
| 156 |
+
|
| 157 |
+
### Model Architecture and Objective
|
| 158 |
+
|
| 159 |
+
[More Information Needed]
|
| 160 |
+
|
| 161 |
+
### Compute Infrastructure
|
| 162 |
+
|
| 163 |
+
[More Information Needed]
|
| 164 |
+
|
| 165 |
+
#### Hardware
|
| 166 |
+
|
| 167 |
+
[More Information Needed]
|
| 168 |
+
|
| 169 |
+
#### Software
|
| 170 |
+
|
| 171 |
+
[More Information Needed]
|
| 172 |
+
|
| 173 |
+
## Citation [optional]
|
| 174 |
+
|
| 175 |
+
<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
|
| 176 |
+
|
| 177 |
+
**BibTeX:**
|
| 178 |
+
|
| 179 |
+
[More Information Needed]
|
| 180 |
+
|
| 181 |
+
**APA:**
|
| 182 |
+
|
| 183 |
+
[More Information Needed]
|
| 184 |
+
|
| 185 |
+
## Glossary [optional]
|
| 186 |
+
|
| 187 |
+
<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
|
| 188 |
+
|
| 189 |
+
[More Information Needed]
|
| 190 |
+
|
| 191 |
+
## More Information [optional]
|
| 192 |
+
|
| 193 |
+
[More Information Needed]
|
| 194 |
+
|
| 195 |
+
## Model Card Authors [optional]
|
| 196 |
+
|
| 197 |
+
[More Information Needed]
|
| 198 |
+
|
| 199 |
+
## Model Card Contact
|
| 200 |
+
|
| 201 |
+
[More Information Needed]
|
| 202 |
+
### Framework versions
|
| 203 |
+
|
| 204 |
+
- PEFT 0.19.1
|
checkpoints/004000/pretrained_model/adapter_config.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"alora_invocation_tokens": null,
|
| 3 |
+
"alpha_pattern": {},
|
| 4 |
+
"arrow_config": null,
|
| 5 |
+
"auto_mapping": {
|
| 6 |
+
"base_model_class": "SmolVLAPolicy",
|
| 7 |
+
"parent_library": "lerobot.policies.smolvla.modeling_smolvla"
|
| 8 |
+
},
|
| 9 |
+
"base_model_name_or_path": "outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model",
|
| 10 |
+
"bias": "none",
|
| 11 |
+
"corda_config": null,
|
| 12 |
+
"ensure_weight_tying": false,
|
| 13 |
+
"eva_config": null,
|
| 14 |
+
"exclude_modules": null,
|
| 15 |
+
"fan_in_fan_out": false,
|
| 16 |
+
"inference_mode": true,
|
| 17 |
+
"init_lora_weights": true,
|
| 18 |
+
"layer_replication": null,
|
| 19 |
+
"layers_pattern": null,
|
| 20 |
+
"layers_to_transform": null,
|
| 21 |
+
"loftq_config": {},
|
| 22 |
+
"lora_alpha": 8,
|
| 23 |
+
"lora_bias": false,
|
| 24 |
+
"lora_dropout": 0.0,
|
| 25 |
+
"lora_ga_config": null,
|
| 26 |
+
"megatron_config": null,
|
| 27 |
+
"megatron_core": "megatron.core",
|
| 28 |
+
"modules_to_save": [],
|
| 29 |
+
"peft_type": "LORA",
|
| 30 |
+
"peft_version": "0.19.1",
|
| 31 |
+
"qalora_group_size": 16,
|
| 32 |
+
"r": 64,
|
| 33 |
+
"rank_pattern": {},
|
| 34 |
+
"revision": null,
|
| 35 |
+
"target_modules": [
|
| 36 |
+
"q_proj",
|
| 37 |
+
"v_proj"
|
| 38 |
+
],
|
| 39 |
+
"target_parameters": null,
|
| 40 |
+
"task_type": null,
|
| 41 |
+
"trainable_token_indices": null,
|
| 42 |
+
"use_bdlora": null,
|
| 43 |
+
"use_dora": false,
|
| 44 |
+
"use_qalora": false,
|
| 45 |
+
"use_rslora": false
|
| 46 |
+
}
|
checkpoints/004000/pretrained_model/adapter_model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ff87eb4fc46261ac1d53d5bf774d2f1e914dc6bbec4fd0a4840e05b2f9c9e137
|
| 3 |
+
size 32895960
|
checkpoints/004000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "smolvla",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"input_features": {
|
| 5 |
+
"observation.state": {
|
| 6 |
+
"type": "STATE",
|
| 7 |
+
"shape": [
|
| 8 |
+
6
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"observation.images.camera1": {
|
| 12 |
+
"type": "VISUAL",
|
| 13 |
+
"shape": [
|
| 14 |
+
3,
|
| 15 |
+
256,
|
| 16 |
+
256
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"observation.images.camera2": {
|
| 20 |
+
"type": "VISUAL",
|
| 21 |
+
"shape": [
|
| 22 |
+
3,
|
| 23 |
+
256,
|
| 24 |
+
256
|
| 25 |
+
]
|
| 26 |
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},
|
| 27 |
+
"observation.images.camera3": {
|
| 28 |
+
"type": "VISUAL",
|
| 29 |
+
"shape": [
|
| 30 |
+
3,
|
| 31 |
+
256,
|
| 32 |
+
256
|
| 33 |
+
]
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"output_features": {
|
| 37 |
+
"action": {
|
| 38 |
+
"type": "ACTION",
|
| 39 |
+
"shape": [
|
| 40 |
+
6
|
| 41 |
+
]
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"device": "cuda",
|
| 45 |
+
"use_amp": false,
|
| 46 |
+
"use_peft": true,
|
| 47 |
+
"push_to_hub": true,
|
| 48 |
+
"repo_id": "robot_learning_group47/eval3_test",
|
| 49 |
+
"private": null,
|
| 50 |
+
"tags": null,
|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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| 56 |
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| 57 |
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| 58 |
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|
| 59 |
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|
| 61 |
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|
| 62 |
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| 64 |
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|
| 65 |
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|
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
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|
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|
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|
| 86 |
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| 87 |
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|
| 89 |
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"attention_mode": "cross_attn",
|
| 90 |
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|
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|
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|
| 101 |
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|
checkpoints/004000/pretrained_model/policy_postprocessor.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
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|
|
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|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_postprocessor",
|
| 3 |
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"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "unnormalizer_processor",
|
| 6 |
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"config": {
|
| 7 |
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"eps": 1e-08,
|
| 8 |
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"features": {
|
| 9 |
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|
| 10 |
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"type": "ACTION",
|
| 11 |
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"shape": [
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"VISUAL": "IDENTITY",
|
| 18 |
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"STATE": "MEAN_STD",
|
| 19 |
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"ACTION": "MEAN_STD"
|
| 20 |
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}
|
| 21 |
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},
|
| 22 |
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"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
|
| 23 |
+
},
|
| 24 |
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{
|
| 25 |
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"registry_name": "device_processor",
|
| 26 |
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"config": {
|
| 27 |
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"device": "cpu",
|
| 28 |
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|
| 29 |
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}
|
| 30 |
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}
|
| 31 |
+
]
|
| 32 |
+
}
|
checkpoints/004000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 6560
|
checkpoints/004000/pretrained_model/policy_preprocessor.json
ADDED
|
@@ -0,0 +1,89 @@
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|
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|
|
| 1 |
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{
|
| 2 |
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"name": "policy_preprocessor",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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"rename_map": {
|
| 8 |
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|
| 9 |
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}
|
| 10 |
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|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"registry_name": "to_batch_processor",
|
| 14 |
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|
| 15 |
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|
| 16 |
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{
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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{
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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{
|
| 32 |
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|
| 33 |
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"config": {
|
| 34 |
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"device": "cuda",
|
| 35 |
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|
| 36 |
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|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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|
| 40 |
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"config": {
|
| 41 |
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"eps": 1e-08,
|
| 42 |
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"features": {
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 58 |
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|
| 59 |
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| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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|
| 75 |
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|
| 77 |
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| 78 |
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| 79 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 87 |
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|
| 88 |
+
]
|
| 89 |
+
}
|
checkpoints/004000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 6560
|
checkpoints/004000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,250 @@
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|
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|
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|
| 1 |
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{
|
| 2 |
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"dataset": {
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
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| 31 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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|
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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| 132 |
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| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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| 165 |
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|
| 166 |
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|
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
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| 178 |
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|
| 179 |
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| 181 |
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|
| 182 |
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|
| 183 |
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| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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"optimizer": {
|
| 199 |
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"type": "adamw",
|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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"betas": [
|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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"eps": 1e-08
|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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"n_episodes": 50,
|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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},
|
| 231 |
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"peft": {
|
| 232 |
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"target_modules": [
|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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"rabc_head_mode": "sparse",
|
| 246 |
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|
| 247 |
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|
| 248 |
+
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|
| 249 |
+
"checkpoint_path": null
|
| 250 |
+
}
|
checkpoints/004000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,697 @@
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| 1 |
+
[
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| 2 |
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{
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| 3 |
+
"lr": 9.578534106007679e-05,
|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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],
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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| 19 |
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| 413 |
+
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+
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+
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+
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+
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|
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+
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|
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+
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+
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+
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+
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+
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+
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|
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+
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+
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|
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+
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|
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+
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|
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+
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|
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+
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|
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+
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|
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+
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|
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+
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|
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+
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+
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+
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+
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+
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+
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|
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+
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|
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+
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|
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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531,
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|
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|
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584,
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|
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| 619 |
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601,
|
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|
| 622 |
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|
| 623 |
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|
| 624 |
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|
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|
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|
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|
| 628 |
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|
| 629 |
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|
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|
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|
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|
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|
| 635 |
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|
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|
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619,
|
| 639 |
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620,
|
| 640 |
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621,
|
| 641 |
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622,
|
| 642 |
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623,
|
| 643 |
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624,
|
| 644 |
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625,
|
| 645 |
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626,
|
| 646 |
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627,
|
| 647 |
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628,
|
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629,
|
| 649 |
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|
| 650 |
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631,
|
| 651 |
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632,
|
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633,
|
| 653 |
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634,
|
| 654 |
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635,
|
| 655 |
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636,
|
| 656 |
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637,
|
| 657 |
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638,
|
| 658 |
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639,
|
| 659 |
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640,
|
| 660 |
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641,
|
| 661 |
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|
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|
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|
| 664 |
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645,
|
| 665 |
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646,
|
| 666 |
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647,
|
| 667 |
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648,
|
| 668 |
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649,
|
| 669 |
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650,
|
| 670 |
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651,
|
| 671 |
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652,
|
| 672 |
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653,
|
| 673 |
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|
| 674 |
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|
| 675 |
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656,
|
| 676 |
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657,
|
| 677 |
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658,
|
| 678 |
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659,
|
| 679 |
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|
| 680 |
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661,
|
| 681 |
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|
| 682 |
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|
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664,
|
| 684 |
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|
| 685 |
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|
| 686 |
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|
| 687 |
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668,
|
| 688 |
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669,
|
| 689 |
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670,
|
| 690 |
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671,
|
| 691 |
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672,
|
| 692 |
+
673,
|
| 693 |
+
674,
|
| 694 |
+
675
|
| 695 |
+
]
|
| 696 |
+
}
|
| 697 |
+
]
|
checkpoints/004000/training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a26ffcba2c886845de2e9272edb66f627bb589bf6140a94140ae53cb92dc8ae8
|
| 3 |
+
size 64794928
|
checkpoints/004000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:529ef0c04ddf7db3007558121ff090200139ef9018571bf3ff4de5d1a486ef97
|
| 3 |
+
size 15708
|
checkpoints/004000/training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_lrs": [
|
| 3 |
+
0.0001
|
| 4 |
+
],
|
| 5 |
+
"last_epoch": 4000,
|
| 6 |
+
"_step_count": 4001,
|
| 7 |
+
"_is_initial": false,
|
| 8 |
+
"_get_lr_called_within_step": false,
|
| 9 |
+
"_last_lr": [
|
| 10 |
+
9.578534106007679e-05
|
| 11 |
+
],
|
| 12 |
+
"lr_lambdas": [
|
| 13 |
+
null
|
| 14 |
+
]
|
| 15 |
+
}
|
checkpoints/004000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 4000
|
| 3 |
+
}
|
checkpoints/006000/pretrained_model/README.md
ADDED
|
@@ -0,0 +1,204 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
library_name: peft
|
| 3 |
+
tags:
|
| 4 |
+
- base_model:adapter:outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model
|
| 5 |
+
- lora
|
| 6 |
+
---
|
| 7 |
+
|
| 8 |
+
# Model Card for Model ID
|
| 9 |
+
|
| 10 |
+
<!-- Provide a quick summary of what the model is/does. -->
|
| 11 |
+
|
| 12 |
+
|
| 13 |
+
|
| 14 |
+
## Model Details
|
| 15 |
+
|
| 16 |
+
### Model Description
|
| 17 |
+
|
| 18 |
+
<!-- Provide a longer summary of what this model is. -->
|
| 19 |
+
|
| 20 |
+
|
| 21 |
+
|
| 22 |
+
- **Developed by:** [More Information Needed]
|
| 23 |
+
- **Funded by [optional]:** [More Information Needed]
|
| 24 |
+
- **Shared by [optional]:** [More Information Needed]
|
| 25 |
+
- **Model type:** [More Information Needed]
|
| 26 |
+
- **Language(s) (NLP):** [More Information Needed]
|
| 27 |
+
- **License:** [More Information Needed]
|
| 28 |
+
- **Finetuned from model [optional]:** [More Information Needed]
|
| 29 |
+
|
| 30 |
+
### Model Sources [optional]
|
| 31 |
+
|
| 32 |
+
<!-- Provide the basic links for the model. -->
|
| 33 |
+
|
| 34 |
+
- **Repository:** [More Information Needed]
|
| 35 |
+
- **Paper [optional]:** [More Information Needed]
|
| 36 |
+
- **Demo [optional]:** [More Information Needed]
|
| 37 |
+
|
| 38 |
+
## Uses
|
| 39 |
+
|
| 40 |
+
<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
|
| 41 |
+
|
| 42 |
+
### Direct Use
|
| 43 |
+
|
| 44 |
+
<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
|
| 45 |
+
|
| 46 |
+
[More Information Needed]
|
| 47 |
+
|
| 48 |
+
### Downstream Use [optional]
|
| 49 |
+
|
| 50 |
+
<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
|
| 51 |
+
|
| 52 |
+
[More Information Needed]
|
| 53 |
+
|
| 54 |
+
### Out-of-Scope Use
|
| 55 |
+
|
| 56 |
+
<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
|
| 57 |
+
|
| 58 |
+
[More Information Needed]
|
| 59 |
+
|
| 60 |
+
## Bias, Risks, and Limitations
|
| 61 |
+
|
| 62 |
+
<!-- This section is meant to convey both technical and sociotechnical limitations. -->
|
| 63 |
+
|
| 64 |
+
[More Information Needed]
|
| 65 |
+
|
| 66 |
+
### Recommendations
|
| 67 |
+
|
| 68 |
+
<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
|
| 69 |
+
|
| 70 |
+
Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
|
| 71 |
+
|
| 72 |
+
## How to Get Started with the Model
|
| 73 |
+
|
| 74 |
+
Use the code below to get started with the model.
|
| 75 |
+
|
| 76 |
+
[More Information Needed]
|
| 77 |
+
|
| 78 |
+
## Training Details
|
| 79 |
+
|
| 80 |
+
### Training Data
|
| 81 |
+
|
| 82 |
+
<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
|
| 83 |
+
|
| 84 |
+
[More Information Needed]
|
| 85 |
+
|
| 86 |
+
### Training Procedure
|
| 87 |
+
|
| 88 |
+
<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
|
| 89 |
+
|
| 90 |
+
#### Preprocessing [optional]
|
| 91 |
+
|
| 92 |
+
[More Information Needed]
|
| 93 |
+
|
| 94 |
+
|
| 95 |
+
#### Training Hyperparameters
|
| 96 |
+
|
| 97 |
+
- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
|
| 98 |
+
|
| 99 |
+
#### Speeds, Sizes, Times [optional]
|
| 100 |
+
|
| 101 |
+
<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
|
| 102 |
+
|
| 103 |
+
[More Information Needed]
|
| 104 |
+
|
| 105 |
+
## Evaluation
|
| 106 |
+
|
| 107 |
+
<!-- This section describes the evaluation protocols and provides the results. -->
|
| 108 |
+
|
| 109 |
+
### Testing Data, Factors & Metrics
|
| 110 |
+
|
| 111 |
+
#### Testing Data
|
| 112 |
+
|
| 113 |
+
<!-- This should link to a Dataset Card if possible. -->
|
| 114 |
+
|
| 115 |
+
[More Information Needed]
|
| 116 |
+
|
| 117 |
+
#### Factors
|
| 118 |
+
|
| 119 |
+
<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
|
| 120 |
+
|
| 121 |
+
[More Information Needed]
|
| 122 |
+
|
| 123 |
+
#### Metrics
|
| 124 |
+
|
| 125 |
+
<!-- These are the evaluation metrics being used, ideally with a description of why. -->
|
| 126 |
+
|
| 127 |
+
[More Information Needed]
|
| 128 |
+
|
| 129 |
+
### Results
|
| 130 |
+
|
| 131 |
+
[More Information Needed]
|
| 132 |
+
|
| 133 |
+
#### Summary
|
| 134 |
+
|
| 135 |
+
|
| 136 |
+
|
| 137 |
+
## Model Examination [optional]
|
| 138 |
+
|
| 139 |
+
<!-- Relevant interpretability work for the model goes here -->
|
| 140 |
+
|
| 141 |
+
[More Information Needed]
|
| 142 |
+
|
| 143 |
+
## Environmental Impact
|
| 144 |
+
|
| 145 |
+
<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
|
| 146 |
+
|
| 147 |
+
Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
|
| 148 |
+
|
| 149 |
+
- **Hardware Type:** [More Information Needed]
|
| 150 |
+
- **Hours used:** [More Information Needed]
|
| 151 |
+
- **Cloud Provider:** [More Information Needed]
|
| 152 |
+
- **Compute Region:** [More Information Needed]
|
| 153 |
+
- **Carbon Emitted:** [More Information Needed]
|
| 154 |
+
|
| 155 |
+
## Technical Specifications [optional]
|
| 156 |
+
|
| 157 |
+
### Model Architecture and Objective
|
| 158 |
+
|
| 159 |
+
[More Information Needed]
|
| 160 |
+
|
| 161 |
+
### Compute Infrastructure
|
| 162 |
+
|
| 163 |
+
[More Information Needed]
|
| 164 |
+
|
| 165 |
+
#### Hardware
|
| 166 |
+
|
| 167 |
+
[More Information Needed]
|
| 168 |
+
|
| 169 |
+
#### Software
|
| 170 |
+
|
| 171 |
+
[More Information Needed]
|
| 172 |
+
|
| 173 |
+
## Citation [optional]
|
| 174 |
+
|
| 175 |
+
<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
|
| 176 |
+
|
| 177 |
+
**BibTeX:**
|
| 178 |
+
|
| 179 |
+
[More Information Needed]
|
| 180 |
+
|
| 181 |
+
**APA:**
|
| 182 |
+
|
| 183 |
+
[More Information Needed]
|
| 184 |
+
|
| 185 |
+
## Glossary [optional]
|
| 186 |
+
|
| 187 |
+
<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
|
| 188 |
+
|
| 189 |
+
[More Information Needed]
|
| 190 |
+
|
| 191 |
+
## More Information [optional]
|
| 192 |
+
|
| 193 |
+
[More Information Needed]
|
| 194 |
+
|
| 195 |
+
## Model Card Authors [optional]
|
| 196 |
+
|
| 197 |
+
[More Information Needed]
|
| 198 |
+
|
| 199 |
+
## Model Card Contact
|
| 200 |
+
|
| 201 |
+
[More Information Needed]
|
| 202 |
+
### Framework versions
|
| 203 |
+
|
| 204 |
+
- PEFT 0.19.1
|
checkpoints/006000/pretrained_model/adapter_config.json
ADDED
|
@@ -0,0 +1,46 @@
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|
| 1 |
+
{
|
| 2 |
+
"alora_invocation_tokens": null,
|
| 3 |
+
"alpha_pattern": {},
|
| 4 |
+
"arrow_config": null,
|
| 5 |
+
"auto_mapping": {
|
| 6 |
+
"base_model_class": "SmolVLAPolicy",
|
| 7 |
+
"parent_library": "lerobot.policies.smolvla.modeling_smolvla"
|
| 8 |
+
},
|
| 9 |
+
"base_model_name_or_path": "outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model",
|
| 10 |
+
"bias": "none",
|
| 11 |
+
"corda_config": null,
|
| 12 |
+
"ensure_weight_tying": false,
|
| 13 |
+
"eva_config": null,
|
| 14 |
+
"exclude_modules": null,
|
| 15 |
+
"fan_in_fan_out": false,
|
| 16 |
+
"inference_mode": true,
|
| 17 |
+
"init_lora_weights": true,
|
| 18 |
+
"layer_replication": null,
|
| 19 |
+
"layers_pattern": null,
|
| 20 |
+
"layers_to_transform": null,
|
| 21 |
+
"loftq_config": {},
|
| 22 |
+
"lora_alpha": 8,
|
| 23 |
+
"lora_bias": false,
|
| 24 |
+
"lora_dropout": 0.0,
|
| 25 |
+
"lora_ga_config": null,
|
| 26 |
+
"megatron_config": null,
|
| 27 |
+
"megatron_core": "megatron.core",
|
| 28 |
+
"modules_to_save": [],
|
| 29 |
+
"peft_type": "LORA",
|
| 30 |
+
"peft_version": "0.19.1",
|
| 31 |
+
"qalora_group_size": 16,
|
| 32 |
+
"r": 64,
|
| 33 |
+
"rank_pattern": {},
|
| 34 |
+
"revision": null,
|
| 35 |
+
"target_modules": [
|
| 36 |
+
"q_proj",
|
| 37 |
+
"v_proj"
|
| 38 |
+
],
|
| 39 |
+
"target_parameters": null,
|
| 40 |
+
"task_type": null,
|
| 41 |
+
"trainable_token_indices": null,
|
| 42 |
+
"use_bdlora": null,
|
| 43 |
+
"use_dora": false,
|
| 44 |
+
"use_qalora": false,
|
| 45 |
+
"use_rslora": false
|
| 46 |
+
}
|
checkpoints/006000/pretrained_model/adapter_model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8651d68801e678b37ad3a40a1916c6010b17541916526f6ea5e3698d2474101b
|
| 3 |
+
size 32895960
|
checkpoints/006000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "smolvla",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"input_features": {
|
| 5 |
+
"observation.state": {
|
| 6 |
+
"type": "STATE",
|
| 7 |
+
"shape": [
|
| 8 |
+
6
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"observation.images.camera1": {
|
| 12 |
+
"type": "VISUAL",
|
| 13 |
+
"shape": [
|
| 14 |
+
3,
|
| 15 |
+
256,
|
| 16 |
+
256
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"observation.images.camera2": {
|
| 20 |
+
"type": "VISUAL",
|
| 21 |
+
"shape": [
|
| 22 |
+
3,
|
| 23 |
+
256,
|
| 24 |
+
256
|
| 25 |
+
]
|
| 26 |
+
},
|
| 27 |
+
"observation.images.camera3": {
|
| 28 |
+
"type": "VISUAL",
|
| 29 |
+
"shape": [
|
| 30 |
+
3,
|
| 31 |
+
256,
|
| 32 |
+
256
|
| 33 |
+
]
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"output_features": {
|
| 37 |
+
"action": {
|
| 38 |
+
"type": "ACTION",
|
| 39 |
+
"shape": [
|
| 40 |
+
6
|
| 41 |
+
]
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"device": "cuda",
|
| 45 |
+
"use_amp": false,
|
| 46 |
+
"use_peft": true,
|
| 47 |
+
"push_to_hub": true,
|
| 48 |
+
"repo_id": "robot_learning_group47/eval3_test",
|
| 49 |
+
"private": null,
|
| 50 |
+
"tags": null,
|
| 51 |
+
"license": null,
|
| 52 |
+
"pretrained_path": "outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model",
|
| 53 |
+
"chunk_size": 50,
|
| 54 |
+
"n_action_steps": 50,
|
| 55 |
+
"normalization_mapping": {
|
| 56 |
+
"VISUAL": "IDENTITY",
|
| 57 |
+
"STATE": "MEAN_STD",
|
| 58 |
+
"ACTION": "MEAN_STD"
|
| 59 |
+
},
|
| 60 |
+
"max_state_dim": 32,
|
| 61 |
+
"max_action_dim": 32,
|
| 62 |
+
"resize_imgs_with_padding": [
|
| 63 |
+
512,
|
| 64 |
+
512
|
| 65 |
+
],
|
| 66 |
+
"empty_cameras": 0,
|
| 67 |
+
"adapt_to_pi_aloha": false,
|
| 68 |
+
"use_delta_joint_actions_aloha": false,
|
| 69 |
+
"tokenizer_max_length": 48,
|
| 70 |
+
"num_steps": 10,
|
| 71 |
+
"use_cache": true,
|
| 72 |
+
"freeze_vision_encoder": true,
|
| 73 |
+
"train_expert_only": true,
|
| 74 |
+
"train_state_proj": true,
|
| 75 |
+
"optimizer_lr": 0.0001,
|
| 76 |
+
"optimizer_betas": [
|
| 77 |
+
0.9,
|
| 78 |
+
0.95
|
| 79 |
+
],
|
| 80 |
+
"optimizer_eps": 1e-08,
|
| 81 |
+
"optimizer_weight_decay": 1e-10,
|
| 82 |
+
"optimizer_grad_clip_norm": 10.0,
|
| 83 |
+
"scheduler_warmup_steps": 1000,
|
| 84 |
+
"scheduler_decay_steps": 30000,
|
| 85 |
+
"scheduler_decay_lr": 2.5e-06,
|
| 86 |
+
"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 87 |
+
"load_vlm_weights": true,
|
| 88 |
+
"add_image_special_tokens": false,
|
| 89 |
+
"attention_mode": "cross_attn",
|
| 90 |
+
"prefix_length": 0,
|
| 91 |
+
"pad_language_to": "max_length",
|
| 92 |
+
"num_expert_layers": 0,
|
| 93 |
+
"num_vlm_layers": 16,
|
| 94 |
+
"self_attn_every_n_layers": 2,
|
| 95 |
+
"expert_width_multiplier": 0.75,
|
| 96 |
+
"min_period": 0.004,
|
| 97 |
+
"max_period": 4.0,
|
| 98 |
+
"rtc_config": null,
|
| 99 |
+
"compile_model": false,
|
| 100 |
+
"compile_mode": "max-autotune"
|
| 101 |
+
}
|
checkpoints/006000/pretrained_model/policy_postprocessor.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
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|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_postprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "unnormalizer_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"eps": 1e-08,
|
| 8 |
+
"features": {
|
| 9 |
+
"action": {
|
| 10 |
+
"type": "ACTION",
|
| 11 |
+
"shape": [
|
| 12 |
+
6
|
| 13 |
+
]
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"norm_map": {
|
| 17 |
+
"VISUAL": "IDENTITY",
|
| 18 |
+
"STATE": "MEAN_STD",
|
| 19 |
+
"ACTION": "MEAN_STD"
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"registry_name": "device_processor",
|
| 26 |
+
"config": {
|
| 27 |
+
"device": "cpu",
|
| 28 |
+
"float_dtype": null
|
| 29 |
+
}
|
| 30 |
+
}
|
| 31 |
+
]
|
| 32 |
+
}
|
checkpoints/006000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:95b1027d071458ea98ce5cad20f02497ee126ffb777eaba0854f405c81181c94
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| 3 |
+
size 6560
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checkpoints/006000/pretrained_model/policy_preprocessor.json
ADDED
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@@ -0,0 +1,89 @@
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| 1 |
+
{
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| 2 |
+
"name": "policy_preprocessor",
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| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "rename_observations_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"rename_map": {
|
| 8 |
+
"observation.images.front": "observation.images.camera1"
|
| 9 |
+
}
|
| 10 |
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}
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"registry_name": "to_batch_processor",
|
| 14 |
+
"config": {}
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"registry_name": "smolvla_new_line_processor",
|
| 18 |
+
"config": {}
|
| 19 |
+
},
|
| 20 |
+
{
|
| 21 |
+
"registry_name": "tokenizer_processor",
|
| 22 |
+
"config": {
|
| 23 |
+
"max_length": 48,
|
| 24 |
+
"task_key": "task",
|
| 25 |
+
"padding_side": "right",
|
| 26 |
+
"padding": "max_length",
|
| 27 |
+
"truncation": true,
|
| 28 |
+
"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"registry_name": "device_processor",
|
| 33 |
+
"config": {
|
| 34 |
+
"device": "cuda",
|
| 35 |
+
"float_dtype": null
|
| 36 |
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}
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
+
"registry_name": "normalizer_processor",
|
| 40 |
+
"config": {
|
| 41 |
+
"eps": 1e-08,
|
| 42 |
+
"features": {
|
| 43 |
+
"observation.state": {
|
| 44 |
+
"type": "STATE",
|
| 45 |
+
"shape": [
|
| 46 |
+
6
|
| 47 |
+
]
|
| 48 |
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},
|
| 49 |
+
"observation.images.camera1": {
|
| 50 |
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"type": "VISUAL",
|
| 51 |
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"shape": [
|
| 52 |
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3,
|
| 53 |
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256,
|
| 54 |
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256
|
| 55 |
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]
|
| 56 |
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},
|
| 57 |
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"observation.images.camera2": {
|
| 58 |
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"type": "VISUAL",
|
| 59 |
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"shape": [
|
| 60 |
+
3,
|
| 61 |
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256,
|
| 62 |
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256
|
| 63 |
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]
|
| 64 |
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},
|
| 65 |
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"observation.images.camera3": {
|
| 66 |
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"type": "VISUAL",
|
| 67 |
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"shape": [
|
| 68 |
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3,
|
| 69 |
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256,
|
| 70 |
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256
|
| 71 |
+
]
|
| 72 |
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},
|
| 73 |
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"action": {
|
| 74 |
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"type": "ACTION",
|
| 75 |
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"shape": [
|
| 76 |
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6
|
| 77 |
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]
|
| 78 |
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}
|
| 79 |
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},
|
| 80 |
+
"norm_map": {
|
| 81 |
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"VISUAL": "IDENTITY",
|
| 82 |
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"STATE": "MEAN_STD",
|
| 83 |
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"ACTION": "MEAN_STD"
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 87 |
+
}
|
| 88 |
+
]
|
| 89 |
+
}
|
checkpoints/006000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95b1027d071458ea98ce5cad20f02497ee126ffb777eaba0854f405c81181c94
|
| 3 |
+
size 6560
|
checkpoints/006000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,250 @@
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|
| 1 |
+
{
|
| 2 |
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"dataset": {
|
| 3 |
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"repo_id": "robot-learning-group47/eval3_toy_video",
|
| 4 |
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"root": "./data/eval3_toy_video",
|
| 5 |
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"episodes": null,
|
| 6 |
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"image_transforms": {
|
| 7 |
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"enable": false,
|
| 8 |
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"max_num_transforms": 3,
|
| 9 |
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"random_order": false,
|
| 10 |
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"tfs": {
|
| 11 |
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"brightness": {
|
| 12 |
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"weight": 1.0,
|
| 13 |
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"type": "ColorJitter",
|
| 14 |
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"kwargs": {
|
| 15 |
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"brightness": [
|
| 16 |
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0.8,
|
| 17 |
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1.2
|
| 18 |
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]
|
| 19 |
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}
|
| 20 |
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},
|
| 21 |
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"contrast": {
|
| 22 |
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"weight": 1.0,
|
| 23 |
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"type": "ColorJitter",
|
| 24 |
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"kwargs": {
|
| 25 |
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"contrast": [
|
| 26 |
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0.8,
|
| 27 |
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1.2
|
| 28 |
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]
|
| 29 |
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}
|
| 30 |
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},
|
| 31 |
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"saturation": {
|
| 32 |
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"weight": 1.0,
|
| 33 |
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"type": "ColorJitter",
|
| 34 |
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"kwargs": {
|
| 35 |
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"saturation": [
|
| 36 |
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0.5,
|
| 37 |
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1.5
|
| 38 |
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]
|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
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"hue": {
|
| 42 |
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"weight": 1.0,
|
| 43 |
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"type": "ColorJitter",
|
| 44 |
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"kwargs": {
|
| 45 |
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"hue": [
|
| 46 |
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-0.05,
|
| 47 |
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0.05
|
| 48 |
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]
|
| 49 |
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}
|
| 50 |
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},
|
| 51 |
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"sharpness": {
|
| 52 |
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"weight": 1.0,
|
| 53 |
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"type": "SharpnessJitter",
|
| 54 |
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"kwargs": {
|
| 55 |
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"sharpness": [
|
| 56 |
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0.5,
|
| 57 |
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|
| 58 |
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]
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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"affine": {
|
| 62 |
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"weight": 1.0,
|
| 63 |
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"type": "RandomAffine",
|
| 64 |
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"kwargs": {
|
| 65 |
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"degrees": [
|
| 66 |
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-5.0,
|
| 67 |
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5.0
|
| 68 |
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],
|
| 69 |
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"translate": [
|
| 70 |
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0.05,
|
| 71 |
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0.05
|
| 72 |
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]
|
| 73 |
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}
|
| 74 |
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}
|
| 75 |
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}
|
| 76 |
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},
|
| 77 |
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"revision": null,
|
| 78 |
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"use_imagenet_stats": true,
|
| 79 |
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"video_backend": "torchcodec",
|
| 80 |
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"streaming": false
|
| 81 |
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},
|
| 82 |
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"env": null,
|
| 83 |
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"policy": {
|
| 84 |
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"type": "smolvla",
|
| 85 |
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"n_obs_steps": 1,
|
| 86 |
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"input_features": {
|
| 87 |
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"observation.state": {
|
| 88 |
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"type": "STATE",
|
| 89 |
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"shape": [
|
| 90 |
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6
|
| 91 |
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]
|
| 92 |
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},
|
| 93 |
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"observation.images.camera1": {
|
| 94 |
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"type": "VISUAL",
|
| 95 |
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"shape": [
|
| 96 |
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3,
|
| 97 |
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256,
|
| 98 |
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256
|
| 99 |
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]
|
| 100 |
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},
|
| 101 |
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"observation.images.camera2": {
|
| 102 |
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"type": "VISUAL",
|
| 103 |
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"shape": [
|
| 104 |
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3,
|
| 105 |
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256,
|
| 106 |
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256
|
| 107 |
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]
|
| 108 |
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},
|
| 109 |
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"observation.images.camera3": {
|
| 110 |
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"type": "VISUAL",
|
| 111 |
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"shape": [
|
| 112 |
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3,
|
| 113 |
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256,
|
| 114 |
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256
|
| 115 |
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]
|
| 116 |
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}
|
| 117 |
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},
|
| 118 |
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"output_features": {
|
| 119 |
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"action": {
|
| 120 |
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"type": "ACTION",
|
| 121 |
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"shape": [
|
| 122 |
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6
|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"device": "cuda",
|
| 127 |
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"use_amp": false,
|
| 128 |
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"use_peft": true,
|
| 129 |
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"push_to_hub": true,
|
| 130 |
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"repo_id": "robot_learning_group47/eval3_test",
|
| 131 |
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"private": null,
|
| 132 |
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"tags": null,
|
| 133 |
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"license": null,
|
| 134 |
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"pretrained_path": "outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model",
|
| 135 |
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"chunk_size": 50,
|
| 136 |
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"n_action_steps": 50,
|
| 137 |
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"normalization_mapping": {
|
| 138 |
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"VISUAL": "IDENTITY",
|
| 139 |
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"STATE": "MEAN_STD",
|
| 140 |
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"ACTION": "MEAN_STD"
|
| 141 |
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},
|
| 142 |
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"max_state_dim": 32,
|
| 143 |
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"max_action_dim": 32,
|
| 144 |
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"resize_imgs_with_padding": [
|
| 145 |
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512,
|
| 146 |
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512
|
| 147 |
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],
|
| 148 |
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"empty_cameras": 0,
|
| 149 |
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"adapt_to_pi_aloha": false,
|
| 150 |
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"use_delta_joint_actions_aloha": false,
|
| 151 |
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"tokenizer_max_length": 48,
|
| 152 |
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"num_steps": 10,
|
| 153 |
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"use_cache": true,
|
| 154 |
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"freeze_vision_encoder": true,
|
| 155 |
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"train_expert_only": true,
|
| 156 |
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"train_state_proj": true,
|
| 157 |
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"optimizer_lr": 0.0001,
|
| 158 |
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"optimizer_betas": [
|
| 159 |
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0.9,
|
| 160 |
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0.95
|
| 161 |
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],
|
| 162 |
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"optimizer_eps": 1e-08,
|
| 163 |
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"optimizer_weight_decay": 1e-10,
|
| 164 |
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"optimizer_grad_clip_norm": 10.0,
|
| 165 |
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"scheduler_warmup_steps": 1000,
|
| 166 |
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"scheduler_decay_steps": 30000,
|
| 167 |
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"scheduler_decay_lr": 2.5e-06,
|
| 168 |
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"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 169 |
+
"load_vlm_weights": true,
|
| 170 |
+
"add_image_special_tokens": false,
|
| 171 |
+
"attention_mode": "cross_attn",
|
| 172 |
+
"prefix_length": 0,
|
| 173 |
+
"pad_language_to": "max_length",
|
| 174 |
+
"num_expert_layers": 0,
|
| 175 |
+
"num_vlm_layers": 16,
|
| 176 |
+
"self_attn_every_n_layers": 2,
|
| 177 |
+
"expert_width_multiplier": 0.75,
|
| 178 |
+
"min_period": 0.004,
|
| 179 |
+
"max_period": 4.0,
|
| 180 |
+
"rtc_config": null,
|
| 181 |
+
"compile_model": false,
|
| 182 |
+
"compile_mode": "max-autotune"
|
| 183 |
+
},
|
| 184 |
+
"output_dir": "outputs/train/2026-05-19/17-12-35_smolvla",
|
| 185 |
+
"job_name": "smolvla",
|
| 186 |
+
"resume": false,
|
| 187 |
+
"seed": 1000,
|
| 188 |
+
"cudnn_deterministic": false,
|
| 189 |
+
"num_workers": 4,
|
| 190 |
+
"batch_size": 32,
|
| 191 |
+
"steps": 30000,
|
| 192 |
+
"eval_freq": 20000,
|
| 193 |
+
"log_freq": 200,
|
| 194 |
+
"tolerance_s": 0.0001,
|
| 195 |
+
"save_checkpoint": true,
|
| 196 |
+
"save_freq": 2000,
|
| 197 |
+
"use_policy_training_preset": true,
|
| 198 |
+
"optimizer": {
|
| 199 |
+
"type": "adamw",
|
| 200 |
+
"lr": 0.0001,
|
| 201 |
+
"weight_decay": 1e-10,
|
| 202 |
+
"grad_clip_norm": 10.0,
|
| 203 |
+
"betas": [
|
| 204 |
+
0.9,
|
| 205 |
+
0.95
|
| 206 |
+
],
|
| 207 |
+
"eps": 1e-08
|
| 208 |
+
},
|
| 209 |
+
"scheduler": {
|
| 210 |
+
"type": "cosine_decay_with_warmup",
|
| 211 |
+
"num_warmup_steps": 1000,
|
| 212 |
+
"num_decay_steps": 30000,
|
| 213 |
+
"peak_lr": 0.0001,
|
| 214 |
+
"decay_lr": 2.5e-06
|
| 215 |
+
},
|
| 216 |
+
"eval": {
|
| 217 |
+
"n_episodes": 50,
|
| 218 |
+
"batch_size": 50,
|
| 219 |
+
"use_async_envs": false
|
| 220 |
+
},
|
| 221 |
+
"wandb": {
|
| 222 |
+
"enable": false,
|
| 223 |
+
"disable_artifact": false,
|
| 224 |
+
"project": "lerobot",
|
| 225 |
+
"entity": null,
|
| 226 |
+
"notes": null,
|
| 227 |
+
"run_id": null,
|
| 228 |
+
"mode": null,
|
| 229 |
+
"add_tags": true
|
| 230 |
+
},
|
| 231 |
+
"peft": {
|
| 232 |
+
"target_modules": [
|
| 233 |
+
"q_proj",
|
| 234 |
+
"v_proj"
|
| 235 |
+
],
|
| 236 |
+
"full_training_modules": null,
|
| 237 |
+
"method_type": "LORA",
|
| 238 |
+
"init_type": null,
|
| 239 |
+
"r": 64
|
| 240 |
+
},
|
| 241 |
+
"use_rabc": false,
|
| 242 |
+
"rabc_progress_path": null,
|
| 243 |
+
"rabc_kappa": 0.01,
|
| 244 |
+
"rabc_epsilon": 1e-06,
|
| 245 |
+
"rabc_head_mode": "sparse",
|
| 246 |
+
"rename_map": {
|
| 247 |
+
"observation.images.front": "observation.images.camera1"
|
| 248 |
+
},
|
| 249 |
+
"checkpoint_path": null
|
| 250 |
+
}
|
checkpoints/006000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,697 @@
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|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 9.06895784757787e-05,
|
| 4 |
+
"betas": [
|
| 5 |
+
0.9,
|
| 6 |
+
0.95
|
| 7 |
+
],
|
| 8 |
+
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531,
|
| 551 |
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532,
|
| 552 |
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533,
|
| 553 |
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534,
|
| 554 |
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535,
|
| 555 |
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536,
|
| 556 |
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537,
|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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541,
|
| 561 |
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542,
|
| 562 |
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|
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544,
|
| 564 |
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|
| 565 |
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546,
|
| 566 |
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|
| 567 |
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548,
|
| 568 |
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549,
|
| 569 |
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550,
|
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|
| 571 |
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|
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|
| 573 |
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|
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555,
|
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556,
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 637 |
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618,
|
| 638 |
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619,
|
| 639 |
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620,
|
| 640 |
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621,
|
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622,
|
| 642 |
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623,
|
| 643 |
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624,
|
| 644 |
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625,
|
| 645 |
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|
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|
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|
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629,
|
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630,
|
| 650 |
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631,
|
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632,
|
| 652 |
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633,
|
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634,
|
| 654 |
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635,
|
| 655 |
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636,
|
| 656 |
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637,
|
| 657 |
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638,
|
| 658 |
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639,
|
| 659 |
+
640,
|
| 660 |
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641,
|
| 661 |
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642,
|
| 662 |
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|
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644,
|
| 664 |
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645,
|
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|
| 666 |
+
647,
|
| 667 |
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648,
|
| 668 |
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649,
|
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650,
|
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651,
|
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652,
|
| 672 |
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|
| 673 |
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|
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|
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656,
|
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|
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|
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|
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|
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661,
|
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|
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|
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664,
|
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665,
|
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666,
|
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667,
|
| 687 |
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668,
|
| 688 |
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669,
|
| 689 |
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670,
|
| 690 |
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671,
|
| 691 |
+
672,
|
| 692 |
+
673,
|
| 693 |
+
674,
|
| 694 |
+
675
|
| 695 |
+
]
|
| 696 |
+
}
|
| 697 |
+
]
|
checkpoints/006000/training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:ed399ff0680247088adcd4bbd32bb52119c4bf8579336e31be71a7bd09b6fada
|
| 3 |
+
size 64794928
|
checkpoints/006000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e504b1cadc949107457f41af8ce5fae2e67acf7990a803afcf949b8809ceb7be
|
| 3 |
+
size 15708
|
checkpoints/006000/training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"base_lrs": [
|
| 3 |
+
0.0001
|
| 4 |
+
],
|
| 5 |
+
"last_epoch": 6000,
|
| 6 |
+
"_step_count": 6001,
|
| 7 |
+
"_is_initial": false,
|
| 8 |
+
"_get_lr_called_within_step": false,
|
| 9 |
+
"_last_lr": [
|
| 10 |
+
9.06895784757787e-05
|
| 11 |
+
],
|
| 12 |
+
"lr_lambdas": [
|
| 13 |
+
null
|
| 14 |
+
]
|
| 15 |
+
}
|
checkpoints/006000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 6000
|
| 3 |
+
}
|
checkpoints/008000/pretrained_model/README.md
ADDED
|
@@ -0,0 +1,204 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
library_name: peft
|
| 3 |
+
tags:
|
| 4 |
+
- base_model:adapter:outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model
|
| 5 |
+
- lora
|
| 6 |
+
---
|
| 7 |
+
|
| 8 |
+
# Model Card for Model ID
|
| 9 |
+
|
| 10 |
+
<!-- Provide a quick summary of what the model is/does. -->
|
| 11 |
+
|
| 12 |
+
|
| 13 |
+
|
| 14 |
+
## Model Details
|
| 15 |
+
|
| 16 |
+
### Model Description
|
| 17 |
+
|
| 18 |
+
<!-- Provide a longer summary of what this model is. -->
|
| 19 |
+
|
| 20 |
+
|
| 21 |
+
|
| 22 |
+
- **Developed by:** [More Information Needed]
|
| 23 |
+
- **Funded by [optional]:** [More Information Needed]
|
| 24 |
+
- **Shared by [optional]:** [More Information Needed]
|
| 25 |
+
- **Model type:** [More Information Needed]
|
| 26 |
+
- **Language(s) (NLP):** [More Information Needed]
|
| 27 |
+
- **License:** [More Information Needed]
|
| 28 |
+
- **Finetuned from model [optional]:** [More Information Needed]
|
| 29 |
+
|
| 30 |
+
### Model Sources [optional]
|
| 31 |
+
|
| 32 |
+
<!-- Provide the basic links for the model. -->
|
| 33 |
+
|
| 34 |
+
- **Repository:** [More Information Needed]
|
| 35 |
+
- **Paper [optional]:** [More Information Needed]
|
| 36 |
+
- **Demo [optional]:** [More Information Needed]
|
| 37 |
+
|
| 38 |
+
## Uses
|
| 39 |
+
|
| 40 |
+
<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
|
| 41 |
+
|
| 42 |
+
### Direct Use
|
| 43 |
+
|
| 44 |
+
<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
|
| 45 |
+
|
| 46 |
+
[More Information Needed]
|
| 47 |
+
|
| 48 |
+
### Downstream Use [optional]
|
| 49 |
+
|
| 50 |
+
<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
|
| 51 |
+
|
| 52 |
+
[More Information Needed]
|
| 53 |
+
|
| 54 |
+
### Out-of-Scope Use
|
| 55 |
+
|
| 56 |
+
<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
|
| 57 |
+
|
| 58 |
+
[More Information Needed]
|
| 59 |
+
|
| 60 |
+
## Bias, Risks, and Limitations
|
| 61 |
+
|
| 62 |
+
<!-- This section is meant to convey both technical and sociotechnical limitations. -->
|
| 63 |
+
|
| 64 |
+
[More Information Needed]
|
| 65 |
+
|
| 66 |
+
### Recommendations
|
| 67 |
+
|
| 68 |
+
<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
|
| 69 |
+
|
| 70 |
+
Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
|
| 71 |
+
|
| 72 |
+
## How to Get Started with the Model
|
| 73 |
+
|
| 74 |
+
Use the code below to get started with the model.
|
| 75 |
+
|
| 76 |
+
[More Information Needed]
|
| 77 |
+
|
| 78 |
+
## Training Details
|
| 79 |
+
|
| 80 |
+
### Training Data
|
| 81 |
+
|
| 82 |
+
<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
|
| 83 |
+
|
| 84 |
+
[More Information Needed]
|
| 85 |
+
|
| 86 |
+
### Training Procedure
|
| 87 |
+
|
| 88 |
+
<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
|
| 89 |
+
|
| 90 |
+
#### Preprocessing [optional]
|
| 91 |
+
|
| 92 |
+
[More Information Needed]
|
| 93 |
+
|
| 94 |
+
|
| 95 |
+
#### Training Hyperparameters
|
| 96 |
+
|
| 97 |
+
- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
|
| 98 |
+
|
| 99 |
+
#### Speeds, Sizes, Times [optional]
|
| 100 |
+
|
| 101 |
+
<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
|
| 102 |
+
|
| 103 |
+
[More Information Needed]
|
| 104 |
+
|
| 105 |
+
## Evaluation
|
| 106 |
+
|
| 107 |
+
<!-- This section describes the evaluation protocols and provides the results. -->
|
| 108 |
+
|
| 109 |
+
### Testing Data, Factors & Metrics
|
| 110 |
+
|
| 111 |
+
#### Testing Data
|
| 112 |
+
|
| 113 |
+
<!-- This should link to a Dataset Card if possible. -->
|
| 114 |
+
|
| 115 |
+
[More Information Needed]
|
| 116 |
+
|
| 117 |
+
#### Factors
|
| 118 |
+
|
| 119 |
+
<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
|
| 120 |
+
|
| 121 |
+
[More Information Needed]
|
| 122 |
+
|
| 123 |
+
#### Metrics
|
| 124 |
+
|
| 125 |
+
<!-- These are the evaluation metrics being used, ideally with a description of why. -->
|
| 126 |
+
|
| 127 |
+
[More Information Needed]
|
| 128 |
+
|
| 129 |
+
### Results
|
| 130 |
+
|
| 131 |
+
[More Information Needed]
|
| 132 |
+
|
| 133 |
+
#### Summary
|
| 134 |
+
|
| 135 |
+
|
| 136 |
+
|
| 137 |
+
## Model Examination [optional]
|
| 138 |
+
|
| 139 |
+
<!-- Relevant interpretability work for the model goes here -->
|
| 140 |
+
|
| 141 |
+
[More Information Needed]
|
| 142 |
+
|
| 143 |
+
## Environmental Impact
|
| 144 |
+
|
| 145 |
+
<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
|
| 146 |
+
|
| 147 |
+
Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
|
| 148 |
+
|
| 149 |
+
- **Hardware Type:** [More Information Needed]
|
| 150 |
+
- **Hours used:** [More Information Needed]
|
| 151 |
+
- **Cloud Provider:** [More Information Needed]
|
| 152 |
+
- **Compute Region:** [More Information Needed]
|
| 153 |
+
- **Carbon Emitted:** [More Information Needed]
|
| 154 |
+
|
| 155 |
+
## Technical Specifications [optional]
|
| 156 |
+
|
| 157 |
+
### Model Architecture and Objective
|
| 158 |
+
|
| 159 |
+
[More Information Needed]
|
| 160 |
+
|
| 161 |
+
### Compute Infrastructure
|
| 162 |
+
|
| 163 |
+
[More Information Needed]
|
| 164 |
+
|
| 165 |
+
#### Hardware
|
| 166 |
+
|
| 167 |
+
[More Information Needed]
|
| 168 |
+
|
| 169 |
+
#### Software
|
| 170 |
+
|
| 171 |
+
[More Information Needed]
|
| 172 |
+
|
| 173 |
+
## Citation [optional]
|
| 174 |
+
|
| 175 |
+
<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
|
| 176 |
+
|
| 177 |
+
**BibTeX:**
|
| 178 |
+
|
| 179 |
+
[More Information Needed]
|
| 180 |
+
|
| 181 |
+
**APA:**
|
| 182 |
+
|
| 183 |
+
[More Information Needed]
|
| 184 |
+
|
| 185 |
+
## Glossary [optional]
|
| 186 |
+
|
| 187 |
+
<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
|
| 188 |
+
|
| 189 |
+
[More Information Needed]
|
| 190 |
+
|
| 191 |
+
## More Information [optional]
|
| 192 |
+
|
| 193 |
+
[More Information Needed]
|
| 194 |
+
|
| 195 |
+
## Model Card Authors [optional]
|
| 196 |
+
|
| 197 |
+
[More Information Needed]
|
| 198 |
+
|
| 199 |
+
## Model Card Contact
|
| 200 |
+
|
| 201 |
+
[More Information Needed]
|
| 202 |
+
### Framework versions
|
| 203 |
+
|
| 204 |
+
- PEFT 0.19.1
|
checkpoints/008000/pretrained_model/adapter_config.json
ADDED
|
@@ -0,0 +1,46 @@
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"alora_invocation_tokens": null,
|
| 3 |
+
"alpha_pattern": {},
|
| 4 |
+
"arrow_config": null,
|
| 5 |
+
"auto_mapping": {
|
| 6 |
+
"base_model_class": "SmolVLAPolicy",
|
| 7 |
+
"parent_library": "lerobot.policies.smolvla.modeling_smolvla"
|
| 8 |
+
},
|
| 9 |
+
"base_model_name_or_path": "outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model",
|
| 10 |
+
"bias": "none",
|
| 11 |
+
"corda_config": null,
|
| 12 |
+
"ensure_weight_tying": false,
|
| 13 |
+
"eva_config": null,
|
| 14 |
+
"exclude_modules": null,
|
| 15 |
+
"fan_in_fan_out": false,
|
| 16 |
+
"inference_mode": true,
|
| 17 |
+
"init_lora_weights": true,
|
| 18 |
+
"layer_replication": null,
|
| 19 |
+
"layers_pattern": null,
|
| 20 |
+
"layers_to_transform": null,
|
| 21 |
+
"loftq_config": {},
|
| 22 |
+
"lora_alpha": 8,
|
| 23 |
+
"lora_bias": false,
|
| 24 |
+
"lora_dropout": 0.0,
|
| 25 |
+
"lora_ga_config": null,
|
| 26 |
+
"megatron_config": null,
|
| 27 |
+
"megatron_core": "megatron.core",
|
| 28 |
+
"modules_to_save": [],
|
| 29 |
+
"peft_type": "LORA",
|
| 30 |
+
"peft_version": "0.19.1",
|
| 31 |
+
"qalora_group_size": 16,
|
| 32 |
+
"r": 64,
|
| 33 |
+
"rank_pattern": {},
|
| 34 |
+
"revision": null,
|
| 35 |
+
"target_modules": [
|
| 36 |
+
"q_proj",
|
| 37 |
+
"v_proj"
|
| 38 |
+
],
|
| 39 |
+
"target_parameters": null,
|
| 40 |
+
"task_type": null,
|
| 41 |
+
"trainable_token_indices": null,
|
| 42 |
+
"use_bdlora": null,
|
| 43 |
+
"use_dora": false,
|
| 44 |
+
"use_qalora": false,
|
| 45 |
+
"use_rslora": false
|
| 46 |
+
}
|
checkpoints/008000/pretrained_model/adapter_model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:07cf9e77a3abf1e190a1c5063d685b1318616da745e382e897e43e7598f22404
|
| 3 |
+
size 32895960
|
checkpoints/008000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "smolvla",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"input_features": {
|
| 5 |
+
"observation.state": {
|
| 6 |
+
"type": "STATE",
|
| 7 |
+
"shape": [
|
| 8 |
+
6
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"observation.images.camera1": {
|
| 12 |
+
"type": "VISUAL",
|
| 13 |
+
"shape": [
|
| 14 |
+
3,
|
| 15 |
+
256,
|
| 16 |
+
256
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"observation.images.camera2": {
|
| 20 |
+
"type": "VISUAL",
|
| 21 |
+
"shape": [
|
| 22 |
+
3,
|
| 23 |
+
256,
|
| 24 |
+
256
|
| 25 |
+
]
|
| 26 |
+
},
|
| 27 |
+
"observation.images.camera3": {
|
| 28 |
+
"type": "VISUAL",
|
| 29 |
+
"shape": [
|
| 30 |
+
3,
|
| 31 |
+
256,
|
| 32 |
+
256
|
| 33 |
+
]
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
+
"output_features": {
|
| 37 |
+
"action": {
|
| 38 |
+
"type": "ACTION",
|
| 39 |
+
"shape": [
|
| 40 |
+
6
|
| 41 |
+
]
|
| 42 |
+
}
|
| 43 |
+
},
|
| 44 |
+
"device": "cuda",
|
| 45 |
+
"use_amp": false,
|
| 46 |
+
"use_peft": true,
|
| 47 |
+
"push_to_hub": true,
|
| 48 |
+
"repo_id": "robot_learning_group47/eval3_test",
|
| 49 |
+
"private": null,
|
| 50 |
+
"tags": null,
|
| 51 |
+
"license": null,
|
| 52 |
+
"pretrained_path": "outputs/train/2026-05-19/16-29-49_smolvla/checkpoints/last/pretrained_model",
|
| 53 |
+
"chunk_size": 50,
|
| 54 |
+
"n_action_steps": 50,
|
| 55 |
+
"normalization_mapping": {
|
| 56 |
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"VISUAL": "IDENTITY",
|
| 57 |
+
"STATE": "MEAN_STD",
|
| 58 |
+
"ACTION": "MEAN_STD"
|
| 59 |
+
},
|
| 60 |
+
"max_state_dim": 32,
|
| 61 |
+
"max_action_dim": 32,
|
| 62 |
+
"resize_imgs_with_padding": [
|
| 63 |
+
512,
|
| 64 |
+
512
|
| 65 |
+
],
|
| 66 |
+
"empty_cameras": 0,
|
| 67 |
+
"adapt_to_pi_aloha": false,
|
| 68 |
+
"use_delta_joint_actions_aloha": false,
|
| 69 |
+
"tokenizer_max_length": 48,
|
| 70 |
+
"num_steps": 10,
|
| 71 |
+
"use_cache": true,
|
| 72 |
+
"freeze_vision_encoder": true,
|
| 73 |
+
"train_expert_only": true,
|
| 74 |
+
"train_state_proj": true,
|
| 75 |
+
"optimizer_lr": 0.0001,
|
| 76 |
+
"optimizer_betas": [
|
| 77 |
+
0.9,
|
| 78 |
+
0.95
|
| 79 |
+
],
|
| 80 |
+
"optimizer_eps": 1e-08,
|
| 81 |
+
"optimizer_weight_decay": 1e-10,
|
| 82 |
+
"optimizer_grad_clip_norm": 10.0,
|
| 83 |
+
"scheduler_warmup_steps": 1000,
|
| 84 |
+
"scheduler_decay_steps": 30000,
|
| 85 |
+
"scheduler_decay_lr": 2.5e-06,
|
| 86 |
+
"vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
|
| 87 |
+
"load_vlm_weights": true,
|
| 88 |
+
"add_image_special_tokens": false,
|
| 89 |
+
"attention_mode": "cross_attn",
|
| 90 |
+
"prefix_length": 0,
|
| 91 |
+
"pad_language_to": "max_length",
|
| 92 |
+
"num_expert_layers": 0,
|
| 93 |
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"num_vlm_layers": 16,
|
| 94 |
+
"self_attn_every_n_layers": 2,
|
| 95 |
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"expert_width_multiplier": 0.75,
|
| 96 |
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"min_period": 0.004,
|
| 97 |
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"max_period": 4.0,
|
| 98 |
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"rtc_config": null,
|
| 99 |
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"compile_model": false,
|
| 100 |
+
"compile_mode": "max-autotune"
|
| 101 |
+
}
|
checkpoints/008000/pretrained_model/policy_postprocessor.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_postprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "unnormalizer_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"eps": 1e-08,
|
| 8 |
+
"features": {
|
| 9 |
+
"action": {
|
| 10 |
+
"type": "ACTION",
|
| 11 |
+
"shape": [
|
| 12 |
+
6
|
| 13 |
+
]
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"norm_map": {
|
| 17 |
+
"VISUAL": "IDENTITY",
|
| 18 |
+
"STATE": "MEAN_STD",
|
| 19 |
+
"ACTION": "MEAN_STD"
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"registry_name": "device_processor",
|
| 26 |
+
"config": {
|
| 27 |
+
"device": "cpu",
|
| 28 |
+
"float_dtype": null
|
| 29 |
+
}
|
| 30 |
+
}
|
| 31 |
+
]
|
| 32 |
+
}
|
checkpoints/008000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95b1027d071458ea98ce5cad20f02497ee126ffb777eaba0854f405c81181c94
|
| 3 |
+
size 6560
|
checkpoints/008000/pretrained_model/policy_preprocessor.json
ADDED
|
@@ -0,0 +1,89 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"name": "policy_preprocessor",
|
| 3 |
+
"steps": [
|
| 4 |
+
{
|
| 5 |
+
"registry_name": "rename_observations_processor",
|
| 6 |
+
"config": {
|
| 7 |
+
"rename_map": {
|
| 8 |
+
"observation.images.front": "observation.images.camera1"
|
| 9 |
+
}
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"registry_name": "to_batch_processor",
|
| 14 |
+
"config": {}
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"registry_name": "smolvla_new_line_processor",
|
| 18 |
+
"config": {}
|
| 19 |
+
},
|
| 20 |
+
{
|
| 21 |
+
"registry_name": "tokenizer_processor",
|
| 22 |
+
"config": {
|
| 23 |
+
"max_length": 48,
|
| 24 |
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"task_key": "task",
|
| 25 |
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"padding_side": "right",
|
| 26 |
+
"padding": "max_length",
|
| 27 |
+
"truncation": true,
|
| 28 |
+
"tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"registry_name": "device_processor",
|
| 33 |
+
"config": {
|
| 34 |
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"device": "cuda",
|
| 35 |
+
"float_dtype": null
|
| 36 |
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}
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"registry_name": "normalizer_processor",
|
| 40 |
+
"config": {
|
| 41 |
+
"eps": 1e-08,
|
| 42 |
+
"features": {
|
| 43 |
+
"observation.state": {
|
| 44 |
+
"type": "STATE",
|
| 45 |
+
"shape": [
|
| 46 |
+
6
|
| 47 |
+
]
|
| 48 |
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},
|
| 49 |
+
"observation.images.camera1": {
|
| 50 |
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"type": "VISUAL",
|
| 51 |
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"shape": [
|
| 52 |
+
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|
| 53 |
+
256,
|
| 54 |
+
256
|
| 55 |
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|
| 56 |
+
},
|
| 57 |
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"observation.images.camera2": {
|
| 58 |
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"type": "VISUAL",
|
| 59 |
+
"shape": [
|
| 60 |
+
3,
|
| 61 |
+
256,
|
| 62 |
+
256
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"observation.images.camera3": {
|
| 66 |
+
"type": "VISUAL",
|
| 67 |
+
"shape": [
|
| 68 |
+
3,
|
| 69 |
+
256,
|
| 70 |
+
256
|
| 71 |
+
]
|
| 72 |
+
},
|
| 73 |
+
"action": {
|
| 74 |
+
"type": "ACTION",
|
| 75 |
+
"shape": [
|
| 76 |
+
6
|
| 77 |
+
]
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
"norm_map": {
|
| 81 |
+
"VISUAL": "IDENTITY",
|
| 82 |
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"STATE": "MEAN_STD",
|
| 83 |
+
"ACTION": "MEAN_STD"
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
|
| 87 |
+
}
|
| 88 |
+
]
|
| 89 |
+
}
|
checkpoints/008000/pretrained_model/policy_preprocessor_step_5_normalizer_processor.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95b1027d071458ea98ce5cad20f02497ee126ffb777eaba0854f405c81181c94
|
| 3 |
+
size 6560
|