jonhpark/roco_smolvla

SmolVLA Fine-tuned on roco_2 (Gearbox Assembly)

This model is a fine-tuned version of lerobot/smolvla_base on the yjsm1203/roco_2 dataset for gearbox assembly task.

Model Details

Item	Value
Base Model	lerobot/smolvla_base
Dataset	yjsm1203/roco_2
Task	Gearbox Assembly
Parameters	~450M (100M trainable)
Training Steps	20,000
Final Loss	0.006

Training Configuration

• Batch Size: 64
• Learning Rate: 1e-4 (with warmup and cosine decay)
• GPU: RTX 5090 (32GB VRAM)
• Training Time: ~6.5 hours

Training Command

lerobot-train \
  --policy.path=lerobot/smolvla_base \
  --dataset.repo_id=yjsm1203/roco_2 \
  --dataset.root=./data/roco_2 \
  --batch_size=64 \
  --steps=20000 \
  --output_dir=outputs/train/roco_smolvla \
  --job_name=roco_smolvla_gearbox \
  --policy.device=cuda \
  --save_freq=5000 \
  --log_freq=100 \
  --wandb.enable=false \
  --policy.repo_id=jonhpark/roco_smolvla \
  --rename_map='{"observation.images.head": "observation.images.camera1", "observation.images.left_hand": "observation.images.camera2", "observation.images.right_hand": "observation.images.camera3"}'

Task Description

Assemble the gearbox by placing each small gear onto the tree pins one at a time.
Install the last small gear in the center, then put the cover on.

Dataset Features

• observation.images.head: (3, 240, 320) - Head camera
• observation.images.left_hand: (3, 240, 320) - Left hand camera
• observation.images.right_hand: (3, 240, 320) - Right hand camera
• observation.state: (28,) - Robot state
• action: (14,) - Robot action

Usage

from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy

policy = SmolVLAPolicy.from_pretrained("jonhpark/roco_smolvla")
policy.to("cuda")

# Use with your robot or evaluation environment

Training Metrics

Step	Loss	Gradient Norm
100	1.149	4.229
1,000	0.067	0.565
5,000	0.019	0.334
10,000	0.010	0.279
15,000	0.006	0.231
20,000	0.006	0.185

Checkpoints

Available checkpoints in this repository:

• checkpoints/005000/ - Step 5,000
• checkpoints/010000/ - Step 10,000
• checkpoints/015000/ - Step 15,000
• checkpoints/020000/ - Step 20,000 (Final)

License

Apache 2.0