SmolVLA: Piper hexagonal bolt insertion (80 zero-home demos)
Fine-tuned from lerobot/smolvla_base on
Samisaliveagain/piper-hexagonal-bolt-insertion-80-demos-zero-home-v1
(AgileX Piper, 7-D absolute joint-position actions: 6 joints in degrees + gripper in mm).
Camera mapping: overhead -> observation.images.camera1, angled -> observation.images.camera2.
Task prompt: "Pick up the hexagonal bolt and place it in the matching opening."
- Action expert only (VLM frozen), 20k steps, batch 32 (~12.6 epochs), lr 1e-4 cosine to 20k, fp16 mixed precision
- chunk_size 50, n_action_steps 50, 10 flow-matching steps
- Inference: ~1.8 GB VRAM, ~290 ms per action chunk on a Quadro RTX 6000
from lerobot.policies.smolvla import SmolVLAPolicy
policy = SmolVLAPolicy.from_pretrained("RoboticsCollectiveAachen/smolvla_piper_hex_bolt_insertion_80")
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Model tree for RoboticsCollectiveAachen/smolvla_piper_hex_bolt_insertion_80
Base model
HuggingFaceTB/SmolLM2-360M Quantized
HuggingFaceTB/SmolLM2-360M-Instruct Quantized
HuggingFaceTB/SmolVLM-500M-Instruct Finetuned
lerobot/smolvla_base