CoRL2026-CSI/IsaacLab-smolVLA-SO101-Multitask-8epoch_LoRA

IsaacLab-smolVLA-SO101-Multitask-8epoch

lerobot/smolvla_base 를 IsaacLab 시뮬레이션 SO101 11-task 데이터셋 CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi_10fps 으로 8 epoch 파인튜닝한 SmolVLA 정책.

이 체크포인트는 LoRA adapter 입니다 (adapter_model.safetensors). base 모델 lerobot/smolvla_base 와 함께 로드됩니다.

Model details

• Base model: lerobot/smolvla_base (SmolVLM2-500M-Video-Instruct VLM + action expert)
• Robot: SO101 (6-DOF, gripper 포함) — IsaacLab 시뮬레이션
• Cameras: top, left_wrist (480×640) — 정책 키 camera1(left_wrist) / camera2(top) 로 rename
• Inputs: observation.state[6] + 카메라 2개 + language instruction (task)
• Output: action[6] (joint position)
• Action chunking: chunk_size=50, n_action_steps=50

Fine-tuning strategy (PEFT / LoRA)

핵심: action expert 와 projection 레이어는 full fine-tune, VLM backbone 은 q/v_proj 에만 LoRA, 그 외 VLM 은 완전 freeze.

Trainable / Frozen breakdown

모듈	상태	설명
VLM q_proj, v_proj (attention query/value projection)	🔵 LoRA 학습	base weight 는 frozen, 저랭크 adapter(A·B)만 학습
VLM 그 외 전부 — k_proj, o_proj, MLP(gate/up/down_proj), token/position embeddings, vision encoder(SigLIP), LayerNorm	❄️ 완전 Frozen	LoRA 도 안 붙고 full 학습도 아님
Action expert (lm_expert) 전체 — attention(q/k/v/o_proj), MLP(gate/up/down_proj), LayerNorm	🔥 Full fine-tune	전체 weight 직접 학습
state_proj (state → token embedding)	🔥 Full fine-tune
action_in_proj, action_out_proj (action ↔ expert hidden)	🔥 Full fine-tune
action_time_mlp_in, action_time_mlp_out (flow-matching time embedding)	🔥 Full fine-tune

즉 frozen 인 것은 VLM backbone 의 대부분(vision encoder 포함) + VLM 의 k_proj/o_proj/MLP/embedding/LayerNorm. 학습되는 것은 VLM q/v_proj 의 LoRA adapter + action expert 전체 + 모든 projection 레이어.

LoRA / PEFT config

항목	값
PEFT method	LORA
rank r	32
lora_alpha	8
lora_dropout	0.0
bias	none
use_rslora / use_dora	false / false
target_modules (LoRA 적용)	.*vlm_with_expert\.vlm\..*(q_proj|v_proj)
modules_to_save (full fine-tune)	lm_expert, state_proj, action_in_proj, action_out_proj, action_time_mlp_in, action_time_mlp_out

저장된 adapter 텐서: 267개 (LoRA A/B 112개 — VLM q_proj·v_proj / full-trained 155개 — expert·projection).

Training hyperparameters

항목	값
Dataset	Isaaclab-so101_11task_baseCaP_3300epi_10fps — 3,300 episodes / 1,175,352 frames / 11 tasks / 10 fps
Epochs	8
Steps	36,800
Global batch size	256 (micro batch 64 × 4 GPU × grad_accum 1)
Optimizer	AdamW — lr 1e-4, weight_decay 1e-10, grad_clip_norm 10.0
LR scheduler	cosine_decay_with_warmup — warmup 1,000 / decay 30,000 / peak_lr 1e-4 / decay_lr 2.5e-6
Seed	1000
Dataloader workers	24
Mixed precision	no (bf16 inference)
Image augmentation	ColorJitter (brightness/contrast/saturation/hue) + SharpnessJitter, max 3 random — 기하학적 변형(회전/이동/반전) 없음 (VLA 좌우 의미 보존)
Hardware	4 × NVIDIA H100 80GB
Training time	약 11시간 12분
Final loss	0.016 (grad_norm 0.21)

Camera rename

Dataset key	Policy key
observation.images.left_wrist	observation.images.camera1
observation.images.top	observation.images.camera2

Usage

from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy

policy = SmolVLAPolicy.from_pretrained("CoRL2026-CSI/IsaacLab-smolVLA-SO101-Multitask-8epoch")

Citation / Acknowledgement

Built on top of LeRobot and the SmolVLA base checkpoint. Project: CoRL 2026 CSI submission.

Framework versions

• PEFT 0.19.1
• LeRobot 0.5.2