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smolvla_IsaacLab-SO101_pick_place_baseCaP_100epi_50ep-appendix
CoRL2026-CSI/smolvla_IsaacLab-SO101_pick_place_baseCaP_100epi_50ep-appendix
smolvla_IsaacLab-SO101_pick_place_baseCaP_100epi_50ep-appendix is a robotics model from CoRL2026-CSI. 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.
This repository contains a SmolVLA policy fine-tuned on the IsaacLab SO101 PickAndPlace dataset.
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.safetensors907 MB · 100%
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Base models
Model card
From the Hugging Face model README
SmolVLA IsaacLab SO101 PickAndPlace 50ep
This repository contains a SmolVLA policy fine-tuned on the IsaacLab SO101 PickAndPlace dataset.
Model
- Policy type:
smolvla - Base model:
CoRL2026-CSI/smolVLA-IsaacLab-Multi-Task-8epoch-mod - VLM backbone:
HuggingFaceTB/SmolVLM2-500M-Video-Instruct - Training mode: frozen vision encoder, expert-only training
- Action chunk size:
50 - Observation steps:
1 - Action dimension:
6 - State dimension:
6
Dataset
- Dataset:
CoRL2026-CSI/IsaacLab-SO101-PickAndPlace-100epi-10fps-appendix - Episodes:
100 - Frames:
34,423 - FPS:
10 - Video codec: H.264
- Cameras used:
observation.images.left_wristrenamed toobservation.images.camera1observation.images.toprenamed toobservation.images.camera2
Training
- Steps:
6,724 - Epochs:
50 - Effective global batch size:
256 - Per-GPU batch size:
128 - Number of GPUs:
2 - Optimizer: AdamW
- Peak LR:
1e-4 - Scheduler: cosine decay with warmup
- Decay LR:
2.5e-6 - Seed:
1000 - Image augmentation: color jitter and sharpness jitter
- DataLoader workers:
16per process - Preprocessing in workers: enabled
The final checkpoint was saved after step 6724.
Files
model.safetensors: policy weightsconfig.json: policy configtrain_config.json: training configpolicy_preprocessor.json: policy preprocessing pipelinepolicy_postprocessor.json: policy postprocessing pipelinepolicy_preprocessor_step_5_normalizer_processor.safetensors: normalization statspolicy_postprocessor_step_0_unnormalizer_processor.safetensors: unnormalization stats
- Task
- Robotics
- Library
- lerobot
- Created
- Jun 1, 2026
- Updated
- Jun 1, 2026