SmolVLA (full fine-tune): Piper hexagonal bolt insertion (80 zero-home demos)
Fine-tuned from lerobot/smolvla_base on
Samisaliveagain/piper-hexagonal-bolt-insertion-80-demos-zero-home-v1
(AgileX Piper, 7-D absolute joint-position actions: 6 joints in degrees + gripper in mm).
Camera mapping: overhead -> observation.images.camera1, angled -> observation.images.camera2.
Task prompt: "Pick up the hexagonal bolt and place it in the matching opening."
- Full fine-tune (vision encoder + VLM + action expert), step 31826 / 31826
- Batch 32 x 1 accumulation (effective 32), ~20 epochs
- lr 0.0001, 1000 warmup steps, cosine decay; fp32 weights with bf16 autocast
- chunk_size 50, n_action_steps 50
from lerobot.policies.smolvla import SmolVLAPolicy
policy = SmolVLAPolicy.from_pretrained("RoboticsCollectiveAachen/smolvla_piper_hex_bolt_insertion_80_full")
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Model tree for RoboticsCollectiveAachen/smolvla_piper_hex_bolt_insertion_80_full
Base model
HuggingFaceTB/SmolLM2-360M Quantized
HuggingFaceTB/SmolLM2-360M-Instruct Quantized
HuggingFaceTB/SmolVLM-500M-Instruct Finetuned
lerobot/smolvla_base