python lerobot/scripts/train.py \
  --policy.path=lerobot/smolvla_base \
  --dataset.repo_id=lerobot/svla_so101_pickplace \
  --batch_size=64 \
  --steps=20000 \
  --output_dir=outputs/train/my_smolvla \
  --job_name=my_smolvla_training \
  --policy.device=cuda \
  --wandb.enable=true

Example of finetuning the smolvla neural network with pretrained VLM and action expert intialized from scratch:

bash

python lerobot/scripts/train.py \
  --dataset.repo_id=lerobot/svla_so101_pickplace \
  --batch_size=64 \
  --steps=200000 \
  --output_dir=outputs/train/my_smolvla \
  --job_name=my_smolvla_training \
  --policy.device=cuda \
  --wandb.enable=true

qualiaadmin/smolVLA_tweaks

SmolVLA: A vision-language-action model for affordable and efficient robotics

qualiaadmin/
smolVLA_tweaks