Upload policy weights, train config and readme

README.md

@@ -7,8 +7,8 @@ model_name: smolvla
 pipeline_tag: robotics
 tags:
 - lerobot
-- smolvla
 - robotics
+- smolvla
 ---
 
 # Model Card for smolvla

config.json

@@ -2,7 +2,7 @@
     "type": "smolvla",
     "n_obs_steps": 1,
     "input_features": {
-        "observation.images.wrist_image": {
+        "observation.images.image": {
             "type": "VISUAL",
             "shape": [
                 256,
@@ -10,7 +10,7 @@
                 3
             ]
         },
-        "observation.images.image": {
+        "observation.images.wrist_image": {
             "type": "VISUAL",
             "shape": [
                 256,
@@ -23,6 +23,24 @@
             "shape": [
                 8
             ]
+        },
+        "observation.states.ee_state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.states.joint_state": {
+            "type": "STATE",
+            "shape": [
+                7
+            ]
+        },
+        "observation.states.gripper_state": {
+            "type": "STATE",
+            "shape": [
+                2
+            ]
         }
     },
     "output_features": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:91da495840f2019069509b78cf41a92b23b131ad3089bb4ce467443427bd1cbd
+oid sha256:84d71cc4cff56f9169a1a1553d43d59885e59b4a3d862b6433db1a3d83ea7abb
 size 1197789224

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
         "repo_id": "none",
-        "root": "/mnt/data/sftp/data/tannq3/data/IPEC-COMMUNITY/libero_object_no_noops_1.0.0_lerobot",
+        "root": "/mnt/data/sftp/data/tannq3/data/IPEC-COMMUNITY/libero_90_no_noops_lerobot",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -84,7 +84,7 @@
         "type": "smolvla",
         "n_obs_steps": 1,
         "input_features": {
-            "observation.images.wrist_image": {
+            "observation.images.image": {
                 "type": "VISUAL",
                 "shape": [
                     256,
@@ -92,7 +92,7 @@
                     3
                 ]
             },
-            "observation.images.image": {
+            "observation.images.wrist_image": {
                 "type": "VISUAL",
                 "shape": [
                     256,
@@ -105,6 +105,24 @@
                 "shape": [
                     8
                 ]
+            },
+            "observation.states.ee_state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.states.joint_state": {
+                "type": "STATE",
+                "shape": [
+                    7
+                ]
+            },
+            "observation.states.gripper_state": {
+                "type": "STATE",
+                "shape": [
+                    2
+                ]
             }
         },
         "output_features": {
@@ -171,8 +189,8 @@
         "max_period": 4.0,
         "rtc_config": null
     },
-    "output_dir": "/mnt/data/sftp/data/tannq3/workspace/outputs/smolvla_libero_object_steps30k_bsz64_2026-04-23_14-47-32",
-    "job_name": "smolvla_libero_object_steps30k_bsz64_2026-04-23_14-47-32",
+    "output_dir": "/mnt/data/sftp/data/tannq3/workspace/outputs/smolvla_libero_90_steps30k_bsz64_2026-04-23_22-25-51",
+    "job_name": "smolvla_libero_90_steps30k_bsz64_2026-04-23_22-25-51",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -213,7 +231,7 @@
         "project": "CoRL26_Equi",
         "entity": null,
         "notes": null,
-        "run_id": "jtcguwpa",
+        "run_id": "w6mxzkb4",
         "mode": null
     },
     "peft": null,