Model Card for smolvla

SmolVLA is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware.

smolvla architecture

This policy has been trained and pushed to the Hub using LeRobot.

Learn how to train and run it in the LeRobot smolvla guide, or browse the full documentation.

Model Details

License: apache-2.0
Fine-tuned from: lerobot/smolvla_base
Robot type: so100_so101_ee
Cameras: top, wrist, side

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
`observation.images.top`	VISUAL	`(3, 480, 640)`
`observation.images.wrist`	VISUAL	`(3, 480, 640)`
`observation.images.side`	VISUAL	`(3, 480, 640)`
`observation.state`	STATE	`(10,)`
`observation.images.top_padding_mask`	STATE	`(1,)`
`observation.images.wrist_padding_mask`	STATE	`(1,)`
`observation.images.side_padding_mask`	STATE	`(1,)`

Outputs

Feature	Type	Shape
`action`	ACTION	`(10,)`

Training Dataset

Repository: felsager/community_dataset_v3_ee_smolvla
Episodes: 37387
Frames: 19659324
Frame rate: 30 FPS
Task(s): "Grasp a battery and put it in the bin.", "Grasp a lego block and put it in the bin.", "Grasp a lego block and put it in the bin 3 cameras.", "Grasp tool and reposition duck", "Pick nuts and sort by color.", "Pick up nut and put it in the circle.", "Pick up nut and drop in cup.", "Grasp rope and reposition.", "Move the white rook to D4 on the chessboard.", "pour a coffee into the cup", "pick up biomedical waster and put it in the respective bin.", "Grasp a medical waste and put it in the bin.", "Grasp a lego toy and put it in the bin.", "Stack the balls on top of each other.", "Pick up the six-sided die and place it fully inside the red circle.", "Grasp a dice and put it in a circle.", "Grasp a mini cookies block and put it in the white box.", "Test Run.", "Grab a bottle of soybeans and pour it into this cup.", "Grasp a clip and put it in the bin.", "Grasp the block and drop it in the designated area.", "Grasp the block and place it in the designated area.", "Grasp a block and put it in the designated area.", "Grasp a block and put it in the designated area. ", "Pick up the oranage cylinder and place it in the circular cutout", "Pick up and place at grid spot 1.", "Pick up and place in grid spot 1.", "Pick up and place at grid spot 2.", "Pick up and place at grid spot 3.", "Pick up and place at grid spot 4.", "Pick up and place in grid spot 5.", "Pick up and place in grid spot 6.", "Pick up and place in grid spot 7.", "Pick up and place in grid spot 8.", "Pick up and place in grid spot 9.", "Pick up and place at grid spot 5", "Pick up and place at grid spot 6", "Pick up and place at grid spot 7", "Pick up and place at grid spot 8", "Grasp a cup to the same shape", "Grasp a dice and put it in the bin.", "Grasp a tape and put it in the bin.", "Pick the yellow lemon and drop it in the red bowl", "Stack the blue cube on the green cube", "Grasp a the blue cube and place it into the blue cube", "Sweep the red cubes to the right with the tissue bag", "Pick up green highlighted object and drop in grey container", "Pick up cube and place in grey container, use gripper visualisation feed", "Pick up red ball and place in grey container", "Move the blue chess pieces as indicated by the highlighted squares", "Play LA", "Play every note", "Grasp the blue bottle onto the wooden plate.", "Grasp the bottle from right to left.", "Grasp the bottle onto the wooden plate.", "Play chess", "Make tea", "Grasp a woden block and put it in the pot.", "Grasp a banana and put it on a drawing.", "Grasp the red stick put it in the bin.", "Grasp a servo box and put it on the zirlivani.", "Grasp a lego block and put it in the box.", "Pick up the 2x2 red block and go up the 8x8 blue block.", "Pick up the 2x2 green block and go up the 8x8 blue block.", "Pick up the 2x2 yellow block and go up the 8x8 blue block.", "Pick up the 2x2 orange block and go up the 8x8 blue block.", "Pick up the 2x4 orange block and go up the 8x8 blue block.", "Pick up the 2x4 green block and go up the 8x8 blue block.", "Grasp the pink cuboid and put it in the bin.", "Grasp the yellow cuboid and put it in the bin.", "Grasp the cube and put it to grid 4.", "Grasp the green cube and put it in the bin.", "Grasp the cube and put it to grid 1.", "Grasp the cube and put it to grid 2.", "Grasp the cube and put it to grid 5.", "Grasp the cube and put it to grid 6.", "Grasp the cube and put it to grid 7.", "Grasp the cube and put it to grid 8.", "Grasp the cube and put it to grid 9.", "Grasp the cube and put it to grid 3.", "Grasp squirtle and keep him close to you ", "Pick up the charger and put it on the white tissue.", "Pick up the red cube and put it in the box.", "Pick up the red cube and stack it on the yellow cube.", "Pick up the red cube and stack it on the green cube.", "Grasp a pen and move it to a new platform.", "trash in the cup", "Grasp a medic box and put it in the bin.", "Grasp a yellow box and put it in the bin.", "Grasp a box and put it in the bin.", "Grasp a lego and put it in the bin.", "Grasp a LAR and go to rest position", "Grasp candy to circle.", "Grasp candy to fix circle.", "Pick the gray block and keep it in the box.", "Grasp the gray block and put it in the box.", "Pick the cube", "Grasp a pen and put it in the box.", "Grasp the cup and put it in the center of the table.", "Grasp the cup and put it on the right side of the table.", "Look the coin", "Push the valve with the cup.", "Pick and place the green box with 2cameras", "Grasp the tape and put it to placement 4.", "Grasp a block and put it in the box.", "Grasp a metal block and put it in the box.", "catch_the_pen", "catch_the_pene", "Please take one of the plates.", "Please give me two plates.", "Could you take three plates?", "Would you please take all the plates for me?", "Can you put the plate away?", "Grab the qbotic and place it in the box", "Push a circle block to the blue square in the center.", "Sort rubbish by color.", "Grab a fry", "Pick up the golf ball and place it on the gray mark at the back.", "Grasp a coca and flip", "Grasp red, green, yellow ducks and put them in the box.", "Grasp a duck and put it in the bin.", "Put a box in an other box", "put banana in the red bowl.", "put the banana in the red bowl.", "put the banana in the red bowl .", "Grasp the banana and put it in the red bowl .", "Grasp the red cude and put it in the red bowl .", "put the lemon in the red bowl.", "put peach in the red bowl.", "put the peach in the red bowl .", "put plum in the red bowl.", "put the plum in the red bowl .", "Grasp the banana and put it in the red bowl ", "Grasp the red cube and put it in the red bowl ", "put the peach in the red bowl.", "Grasp a black cube and put it in the box.", "Pick up a bottle and put it back down.", "Pick up the yellow duck and put it in the box", "Put the red square sponge into the box", "Put the green square sponge into the box", "Put the yellow duck into the box", "Put the black duck into the box", "Put the blue square sponge into the box", "Pick up the black duck and put it in the box", "Grasp a yellow duck and put it in the box.", "Point First Point.", "Point First Point And Not Reset.", "Point It.", "Grap a orange block and put it in the box.", "Grasp a bag and put it in the box.", "Grasp a beer cap and put it in the glass.", "Grasp a boll", "Grasp a carton box block and put it in the mug", "Pick and place a block into the bin", "Pick and place for test", "Grasp a red cube and put it in the cup.", "Pick up the ball and place it in the cup.", "Pick up the cube and drop it in the cup.", "Grasp the yellow pen put it in the bin.", "Fold the blanket.", "Pick up the black block and place it in the transparent container", "Pick up the green square and place it in the transparent container", "Pick up the blue square and place it in the transparent container", "Pick up the blue circle and place it in the transparent container", "Pick up the red square and place it in the transparent container", "Pick up the red circle and place it in the transparent container", "Pick up the yellow block and place it in the transparent container", "Pick up the block from the white plate and place it into the black pot.", "Pick up green blocks from the white plate and place it into the black pot.", "Pick up white blocks from the white plate and place it into the black pot.", "Pick up Objects on the grey area and place it on the white dish.", "Pick up Objects on the white dish and place it on the black pot.", "Grasp 4 blocks and put it in the black pod.", "Grasp a orange cap and put it in the red box.", "Use the robotic gripper to securely grasp a visible carrot and accurately place it within the clearly marked square area on the surface.", "Grasp a block and put it in the circle.", "Grasp the egg and put it in the red bin.", "Grasp a ball and put it on a goblet.", "Grasp a green cube and put in a box.", "Grasp a blue cube in a box.", "Grab a 3d block and put it in the bin.", "Grasp 3d block and put it in the bin.", "Grasp a medicine box.", "Push the O-shape type to the right place.", "Grasp a pen and put it in the bin.", "Grasp a chess and put it in the blue box.", "Grasp a chess and put it in blue box.", "Grasp a mesuring tape and put it on your back", "Grasp the black mesuring tape and put it on your back", "Pick up the banana and place it on the plate", "Pick up the green cubes from the white plate and place them in the black recipient", "Pick up the red cubes from the white plate and place them in the black recipient", "Pick up the items on the white plate and put them in the black container.", "Pick up the items from the white plate and place them in the black recepient.", "Open the left cabinet door", "Pick up the green pineapple from the left cabinet and place it in the green recipient", "Close the left cabinet door", "Take off the lid from the green recipient and place it on the counter", "Pick up the lid from the counter and put it on the green recipient", "Take off the lid from the gray recipient and place it on the counter", "Pick up the lid from the counter and put it on the gray recipient", "Pick up the green pineapple from the left cabinet and place it in the gray recipient", "Put salt in the gray recipient", "Move the piece to destination", "Grasp mouse plushy and put it in the white box", "Grasp seal plushy and put it in the white box", "Grasp a box and put it in the side.", "Grasp a duck and put it on the black surface.", "Lerobot_test", "Grasp a toxy and put it in the bin.", "Grasp ORANGE.", "Pick up trash and put it in the bin.", "Grasp a tape and put it in the drawing circle.", "Grab the scissors", "Grab the forceps", "Pick up the scissors", "Pick up the forceps", "Grasp a lego block and put it on the plate.", "Pick up the lego block.", "Pick up a lego block.", "Grasp anything.", "Pick the pig and place it to the right.", "Shake the person's hand.", "Pick up piece at A6 and place at D6", "Pick up piece at B5 and place at B6", "Pick up piece at B5 and place at C7", "Pick up piece at C5 and place at B6", "Pick up piece at D6 and place at D5", "Pick up piece at A8 and place at D8", "Gateau dans bouchon bleu", "Pick up object", "Pick up the cube and place it in the box.", "Remove the cube from the box.", "Pick up the pen and put it in the pen holder.", "Pick up the yellow tape and place it in the box.", "Remove the yellow tape from the box.", "Pick up the red cube and place it in the box.", "Grab up the yellow tape and put it in the box.", "Grasp a red block and put it in the dish.", "Grasp a red block and put it in the bin.", "Grasp a red block and put it in the left red dish.", "Grasp a tape and put it in the right purple dish.", "Grasp the red box and put it in the box.", "Grasp a black block and put it in the bin.", "Grasp a block and put it in the mug.", "Draw some curves randomly.", "Grasp an little apple and put it in the bin.", "Do Nothing", "Grasp and put it in the bin.", "Grasp and put it in the bin, use two camera.", "Grasp beanbag and put it in the bin.", "Grasp object and put it in the box", "Grasp a block and put it in the bin.", "Grasp a Jenga piece and put it on top of another", "Grasp a Jenga piece and put it on top the box", "Grab a Jenga piece and put it on top the box", "pick the boat", "Grasp a duck and place it on the black square", "Grasp a clothespin and put it in the bowl.", "Grasp a blue block and put it in the bowl.", "Move box red to zone 1", "Move box red to zone 2", "Move box red to home", "Move box blue to zone 1", "Move box blue to zone 2", "Move box blue to home", "Move box yellow to zone 1", "Move box yellow to zone 2", "Move box yellow to home", "Grasp a cylinder and put it in the box", "Grasp the lego brick and put it in the box.", "Grasp the tape and put it in the bin.", "Grasp the yellow lego block and put it in the box.", "Grasp a yellow lego block and put it in the bin.", "Grasp the purple lego block and put it in the box.", "Grasp a pen and put it in a mug.", "Touch the pen.", "Put the yellow square into the bowl.", "Put the blue square into the bowl", "Put the red square into the bowl", "Put the green square into the bowl", "Put the yellow square into the purple area.", "Put the green square into the purple area.", "Put the red square into the purple area.", "Put the blue square into the purple area.", "Grasp a lego block and put it in the bin. Camera top", "サーボモーターの箱をシルバーの箱に入れる", "Grasp a tape reel and place it on the book", "Pick up the orange cubes and place them in the brown box.", "Place the circle to the center left box", "Place the circle to the center right box", "Place the circle to the center box", "Place the circle to the center top box", "Place the circle to the center bottom box", "Place the circle to the bottom left corner box", "Place the circle to the bottom right corner box", "Place the circle to the top left corner box", "Place the circle to the top right corner box", "Grasp the Y cube, keep the “Y” upright (not upside-down), and place it at the center.", "Pick up the orange cube marked Y and place it in the brown box.", "Grasp a cube and put it in the box.", "Grasp a toy car and place it into the box.", "Grasp a small box and put it into the container.", "Put the tape inside the circle.", "pick up the tennis balls and drop them in the red bowl.", "Grasp small items and put it in the red bowl.", "Pick up the blue cube and place it in the box.", "Put the red cube on top of the blue cube.", "Put the orange cube on top of the yellow cube.", "Put the red cube on top of the green cube.", "Put the orange cube on top of the green cube.", "Put the green cube on top of the red cube.", "Put the green cube on top of the purple cube.", "Put the blue cube on top of the orange cube.", "Put the orange cube on top of the purple cube.", "Put the yellow cube on top of the purple cube.", "Put the yellow cube on top of the orange cube.", "Put the green cube on top of the orange cube.", "Put the blue cube on top of the red cube.", "Put the blue cube on top of the yellow cube.", "Put the red cube on top of the yellow cube.", "Put the purple cube on top of the orange cube.", "Put the yellow cube on top of the blue cube.", "Put the green cube on top of the yellow cube.", "Put the orange cube on top of the red cube.", "Put the blue cube on top of the green cube.", "Put the orange cube on top of the blue cube.", "Put the yellow cube on top of the red cube.", "Put the purple cube on top of the green cube.", "Put the purple cube on top of the yellow cube.", "Put the purple cube on top of the blue cube.", "Put the purple cube on top of the red cube.", "Put the yellow cube on top of the green cube.", "Put the red cube on top of the purple cube.", "Put the green cube on top of the blue cube.", "Put the blue cube on top of the purple cube.", "Put the red cube on top of the orange cube.", "Grasp a spare gripper jaw and put it in the empty camera box.", "Grasp a matchbox and place it in the circle.", "Grasp a Black stone and put it in the board on position (0,0).", "Grasp a stone and put it in the board on position 0.", "Grasp a stone and put it in the board on position (0,0).", "put the tape in the box", "Grasp a carrot and put it in the bin.", "Grasp a onion and put it in the bin.", "Move the pen into the tray.", "Grasp a wood brick and put it in the bin.", "Grasp a strawberry bear and put it in the bin.", "Take the rose from the rightside of the table and put it in the vase in the middle of the table", "Pick up rose from vase and place it onto the table", "Pick up veggie straw from inside of open veggie straw packet and place it inside the bowl on the left side of the veggie straw packet", "Pick up the rightmost apple slice from the cutting board and place it into the bowl", "Pick up the second from the right apple slice from the cutting board and place it into the bowl", "Pick up the third from the right apple slice from the cutting board and place it into the bowl", "Pick up the leftmost apple slice from the cutting board and place it into the bowl", "Draw a line in the middle of the ipad using the apple pencil", "Draw a circular shape on the ipad using the apple pencil", "Draw 2 dots in a circle representing the eyes of a stickman", "Grasp the red marker eraser and place it on the pink notebook.", "place blue block on red block, then place yellow block on blue block", "Pick up the blue block and place it on top of the red block.", "Grasp a nerf arrow and put it in the bin.", "Unplug the cable.", "Put the red cube in the bin", "Grasp a cube and put it in the bin.", "hogehoge", "消しゴム", "sample", "eraser", "Grasp the white block and put it on the with card.", "close drawer.", "Grasp a tape and put it in the target area.", "rotate jiaobang", "soft", "hang_tape.", "Grab the coffee stick and send it out of the area.", "Grab a lego block and put it in the bin.", "Grasp basketball and place into cup.", "Grasp a lego block and put it in the cup.", "Pick up the dice.", "Pick up the dice on the left.", "Pick up the dice on the center.", "Pick up the dice on the right.", "Pick up the red dice and place in bowl", "Pick up the yellow dice and place in bowl", "Pick up the lego figure and place in bowl", "Pick up the red car and place in bowl", "Pick up the red and black lego figure and place in bowl", "Pick up the toy red car and place in bowl", "Pick up the red dice and place in bowl.", "Grasp a iphone charger block and put it in the bin.", "Pick the ball and put it in the box.", "Pick the fruit and place it on the white plate.", "grab the candle wick and place it in the tray.", "grab the candle wick by the aluminium plate and place it in the tray.", "Grasp a block and put it in the cup.", "抓取橡皮并将其放入盒子中", "抓取橡皮放入盒子中", "Pick up the eraser and put it in the box.", "移动橡皮", "盖盖子", "Pick up the blue marker.", "Pick up the red marker.", "Pick up the green marker.", "Pick up the black marker.", "Pick up the blue cube and place it in the wooden box.", "Grasp a skyblue doll and put it in the white bowl.", "Pick up the wooden block and place them on the plate.", "Grasp a green lego block and put it in the bin.", "Pick up the box.", "Grasp a skyblue doll and put it into the bowl.", "Grasp a mini car and put it in the bin.", "Grasp a block and put it into a circle", "Put bottle cap(s) into a cup", "Put pabble(s) into a cup", "Put a bottlecap into a cup", "Grasp a bottle cap.", "Put bottle_cap into a cup", "Grab a domino", "Grab domino and drop in the yellow place", "Build a Hanoi Tower.", "Hanoi tower.", "Throw block in a hole", "Flip A0.", "flip A0", "Flip A2.", "flip A2", "Flip A3.", "flip A3", "Grab kapla pieces and build a two level tower", "Grab the kapla pieces and build a two level tower", "Grasp a pink glass an pile it over the other pink glasses", "Grasp the iron and solder the electronic board", "solder the electronic board", "Grasp the orange cup and stack it in the blue cup", "Pickup cup and make a pile of cup.", "Move blocks one by one until all three blocks are in the tray. ", "Grasp a cucumber and put it in the hole.", "Put all lego bricks in the bin.", "Find the closest Lego and put it in the bin.", "Grasp a object.", "Grasp a toy truck onto the red notebook.", "Push the box on top of the target", "Pick up a new token and place it in the grid on square A1.", "Pick up the round, orange token and place it in the grid on square A1.", "Pick up a new token and place it in the grid on square A2.", "Pick up the round, orange token and place it in the grid on square A2.", "Pick up a new token and plac it in the grid on square A3.", "Pick up the round, orange token and place it in the grid on square A3.", "Pick up a new token and plac it in the grid on square B1.", "Pick up the round, orange token and place it in the grid on square B1.", "Pick up a new token and plac it in the grid on square B2.", "Pick up the round, orange token and place it in the grid on square B2.", "Pick up a new token and plac it in the grid on square B3.", "Pick up the round, orange token and place it in the grid on square B3.", "Pick up a new token and plac it in the grid on square C1.", "Pick up the round, orange token and place it in the grid on square C1.", "Pick up a new token and plac it in the grid on square C2.", "Pick up the round, orange token and place it in the grid on square C2.", "Pick up a new token and plac it in the grid on square C3.", "Pick up the round, orange token and place it in the grid on square C3.", "Grasp tied cables and put them in the cup.", "Put the red cube in the right box and the blue cube in the left box.", "Remove everything from the square.", "Fold the bag from the bottom right corner", "Open the top drawer of the teabox", "Push the red cup to the pink target", "Put the banana into the red bowl", "Pick the coffee caps and put it into the top drawer of the teabox", "Put the coffee cap into the top drawer of the teabox", "Unfold the bag from bottom right corner", "Grasp a lego figure and put it in the box.", "Pick up the candy and put in the purple bowl.", "Grasp a toy and put it in the bin.", "Grasp a ball and put it in the cup.", "Pick up all the lego then put into the bin", "Grasp blue ball and put it in the yello bin.", "Grasp red ball and put it in the yello bin.", "Grasp all balls and put them in the yello bin.", "Grasp blue balls and put them in the yello bin.", "Grasp red balls and put them in the yello bin.", "Grasp red balls and put them in the blue bin.", "Grasp blue balls and put them in the blue bin.", "Grasp all tape and put them in the bin.", "lerobot_test6", "move a blue block from tray to blue dish", "move a red block from tray to red dish", "move six blocks tray to matching dishes", "move two blocks tray to matching dishes", "Grasp a dice block and put it in the correct location.", "clean the desk.", "Grasp a paper box and put it in the bin.", "Grasp a cate and put it in the box.", "Grasp a marker", "Place the cutlery in the same coloured dish.", "Grasp a lego block and put it in the circle.", "Separate blue and green blocks.", "Stacking block with wrist camera.", "Gob", "Go to the Red Jam.", "Place bagel on jig", "Grasp the bagel and put it in the center bin.", "Grasp a ball and put it in the box.", "Grasp a cube block and put it in the white box.", "Put the green tape measure into the white box.", "Put the packaging box into the white box.", "Put the green tape measure into the white box", "Put the servo motor packaging box into the white box.", "Grasp a green lego block and put it in the red bin.", "Grab the screw and set it in the hole.", "Wooper wants to eat egg sudhi, and Goomy wants to eat shrimp sushi", "Ramasse la gomme et mets-la dans le bol.", "Grasp a plug and put it in the bin.", "Grasp a globe and put it in the bin.", "Grasp the red cubes and put them on the white towel.", "Grasp a battery and put it in the box.", "Grasp a hacky sack and put it in the bin.", "Grasp a black cylinder and put it in a bowl.", "Grasp a black cylinder and put it in the bin.", "Coge una pila de 9v y llevala a la caja azul.", "Grasp a lego and put it in the basket.", "Grasp a whale and put it in the plate.", "Grab a orange square and put it in the brown box.", "Grab a blue square and put it in the brown box.", "Grab a yellow square and put it in the brown box.", "Grab a green square and put it in the brown box.", "Pick the chicken and place it to the right.", "Pick the cow and place it to the right.", "Pick the sheep and place it to the right.", "easy transfer", "Hold this", "Hold", "Sort medicines into box.", "Flip down a character on the board.", "Grab the water bottler", "Grasp a glue roll and put it in the bin.", "Grasp a green pompom and put it in the green bowl.", "Grasp a yellow pompom and put it in the yellow bowl.", "Put a screwdriver into the toolbox.", "Grab a gum.", "Put all blocks into the box.", "Grasp some building blocks and build the house on the picture.", "Grasp the tape and put it in the box.", "put the wheel on the box", "Both wheel and bin are dynamics.", "Pick the wheel put it on the box.", "Grasp a wheel and put it in the bin.", "Grasp a wheel and place it in the bin.", "Grasp a wheel and place it in to the moving bin.", "Grasp a block and put it", "Place the coffee capsule into the cup.", "Grasp a peg and put it in the crate.", "Grasp a green tool and herd all the particles to the grey bin.", "Grasp a green tool by the dark brown handle.", "gather the left side granules", "gather the right side granules", "gather the bottom side granules", "push granules from left to the grey container", "push granules from right to the grey container", "push granules from bottom to the grey container", "Grasp a blue cylinder and put it inside the red container.", "Grasp a blue block and put it inside the yellow bin.", "Grasp the yellow block and put it in the green bin.", "Grasp the acorn and drop it in the cup.", "Grasp the yellow block and put it in the fixed green bin.", "Grasp the red ball and put it in the bin.", "Grasp the red block and put it in the bin - fixed location.", "Grasp the shape and place it on the puzzle board", "Grasp the yellow shape and drop it in the right slot", "Grasp the cube and drop it in the bowl", "Grasp an apple and move it outside the mat.", "Stack the gold card deck on top of the white card deck.", "Grasp the marker and place it next to the deck of cards.", "Stack a lego block on another block.", "Pick up the blue block and place it in the box", "Pick the red lego block and put it in the box.", "Pick the yellow lego block and put it in the box.", "Pick the red lego block and put it in the box.", "Pick the yellow lego block and put it in the box.", "Pick the rubik cube and put it in the red box.", "Pick the green lego block and put it in the box.", "Pick up the pill bottle and place it in the black box.", "Grasp a pengrip and put it in the cup.", "Grasp a rubber and put it in the cup.", "Grasp a cube and put it in the cup.", "Grasp a gauze and put it in the cup.", "Stack the cubes from left to right.", "Pick a purple dice and put it in the plate.", "Pick up the dice with number 6", "Stack cubes from left to right.", "Pick up the spray and place it in the box.", "Pick a white block and place it in the black box.", "Pick blocks and place them in the box.", "Pick the bunny up and put it in the box.", "Grasp an orange object and put it in the bin.", "grasp usb and place on top of silicon", "Grasp the black cup, lift it towards the plant pot, tilt the cup to pour out its contents, tilt it back, and return it to its original position.", "Grasp the black cup, lift it towards the plant pot, tilt the cup to pour out its contents, tilt it back, and return it to its original position..", "Grasp the lego block and put it in the bin.", "Grasp the eraser and put it in the box.", "Put an object in the bin", "prendre une balle et la placer dans un trou", "Stack 3 Blocks on the chosen place.", "Stack the 3 blocks", "Stack the three blocks in an ordered color.", "Grasp a sunglass and put it in the bin.", "Grasp a glasses and put it in the bin.", "turn the button of vending machine.", "Grasp a black block and then place it on the green board.", "Grasp a box and move it to the right side of the pencil.", "Grasp an eraser and put it in the cup.", "Grab a box on the table and put it into the translucent a box.", "Pick an Item out of the plage.", "Grasp the colored block, Place it on the black dot, and then return the arm to the default position.", "Place the black cylinder in the wooden box then return to rest.", "Pick and Place.", "Move the black knight on a chessboard.", "Grap cube and put at another cube", "Pick up a pen", "Draw a face", "Grasp a component and put it in the bin.", "Pick up the fruits and place them on the plate.", "Pick all pens into pen holder", "Pick and place the blue cube"

Training Configuration

Setting	Value
Training steps	300000
Batch size	64
Optimizer	adamw
Learning rate	0.0005
Seed	0
LeRobot version	0.6.2

How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

Install LeRobot — set up the lerobot package.
Hardware setup — assemble, wire, and calibrate your robot and cameras.
Record data & train a policy — the end-to-end imitation-learning walkthrough.
CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

lerobot-rollout \
  --strategy.type=base \
  --robot.type=so100_so101_ee \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=felsager/smolvla_base_ee_rel \
  --task="Grasp a battery and put it in the bin." \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

This policy type is usually fine-tuned from the pretrained base model lerobot/smolvla_base:

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.path=lerobot/smolvla_base \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

Evaluation

No evaluation results have been provided for this policy yet.

Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}