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smolvla-robotwin-stack-bowls-two-50ep-multi
arrow-hf/smolvla-robotwin-stack-bowls-two-50ep-multi
smolvla-robotwin-stack-bowls-two-50ep-multi is a robotics model from arrow-hf. 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.
SmolVLA policy fine-tuned on 50 demonstration episodes of the stackbowlstwo task from RoboTwin 2.0 (democlean config), with per-episode random language instructions sampled from RoboTwin's 100 instruction variations (…
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From the Hugging Face model README
SmolVLA RoboTwin stack_bowls_two (50 ep, MULTI-instruction)
SmolVLA policy fine-tuned on 50 demonstration episodes of the stack_bowls_two task from RoboTwin 2.0 (demo_clean config), with per-episode random language instructions sampled from RoboTwin's 100 instruction variations (seed=42 for reproducibility).
This is the multi-instruction counterpart to arrow-hf/smolvla-robotwin-stack-bowls-two-50ep (which uses a single fixed instruction).
Task
- Robot: Agilex dual-arm, end-effector control (16D state, 16D action)
- Cameras: 3 RGB streams —
dual_cam_global,cam_wrist_65,cam_wrist_75(240×320, D435) - Control rate: ~30 Hz (LeRobot metadata is 10 Hz; underlying RoboTwin sim ~30 Hz, used consistently for train/eval)
- Instructions: 50 unique sentences (one per episode), examples:
- "Use the left arm to place the object into the basket"
- "Pick the item up and drop it into the woven basket"
- "Move the object from the table into the basket"
Training
| Config | Value |
|---|---|
| Base checkpoint | lerobot/smolvla_robotwin |
| Training data | 50 RoboTwin demonstrations, 50 unique instructions |
| Batch size | 32 |
| Steps | 6000 (~10-25 epochs) |
| Optimizer | AdamW, lr=1e-4 |
| Scheduler | Cosine, warmup=300, decay=6000 |
| Chunk size | 50 |
Evaluation: Single vs Multi-Instruction Comparison
Evaluated in RoboTwin 2.0 simulator (demo_clean config), 10 episodes, max_steps=400, action_chunk_exec=50, single fixed eval instruction "stack the bowls" (fair comparison).
| Variant | Eval setting | Success rate |
|---|---|---|
| Single-instruction training | Fixed "stack the bowls" | 7/10 (70%) |
| Multi-instruction training (this model) | Fixed "stack the bowls" | 7/10 (70%) |
The multi-instruction model trades some single-instruction performance for the ability to follow varied language commands. For tasks where instruction diversity helps (held-out new instructions), this trade-off may pay off.
Usage
from lerobot.policies.smolvla import SmolVLAPolicy
policy = SmolVLAPolicy.from_pretrained("arrow-hf/smolvla-robotwin-stack-bowls-two-50ep-multi")
See LeRobot documentation for inference setup.
Citation
Built on SmolVLA and SmolVLA-RoboTwin pretrained base, fine-tuned on data collected from RoboTwin 2.0.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- May 29, 2026
- Updated
- Jun 9, 2026