smolvla-finetunned-vlm-off

Autobrik/smolvla-finetunned-vlm-off

smolvla-finetunned-vlm-off is a robotics model from Autobrik. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.

Fine-tuned SmolVLA model with frozen Vision-Language Model on BIMANPICKANDPLACE2 dataset.

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.safetensors907 MB · 100%

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BF16447M · 99%

Datasets

Bcryan/BIMAN_PICK_AND_PLACE2

Model card

From the Hugging Face model README

SmolVLA Fine-tuned (VLM Frozen)

Fine-tuned SmolVLA model with frozen Vision-Language Model on BIMAN_PICK_AND_PLACE2 dataset.

Model Configuration

freeze_vision_encoder: True
train_expert_only: True
train_state_proj: True

Training Details

Base model: lerobot/smolvla_base
Dataset: Bcryan/BIMAN_PICK_AND_PLACE2
Training steps: 70,000
Batch size: 16
VLM: Frozen (only action expert trained)

Usage

from lerobot.common.policies.smolvla import SmolVLAPolicy
policy = SmolVLAPolicy.from_pretrained("Autobrik/smolvla-finetunned-vlm-off")

Training Command

python lerobot/scripts/train.py \
  --policy.path=lerobot/smolvla_base \
  --dataset.repo_id=Bcryan/BIMAN_PICK_AND_PLACE2 \
  --batch_size=16 \
  --steps=70000

Task: Robotics
Library: lerobot
License: apache-2.0
Created: Sep 5, 2025
Updated: Sep 5, 2025