smolvla_film_0729_prefix_mask1_recal_fromnaive
SmolVLA (lerobot 0.5.1) checkpoint for the LGES case_pick demo.
- setting: FiLM v2 cond=contact,fmag,fz,seal prefix mask1, RECAL calib F0=5.5 tau=1 fmag=(|F|-5.5)/1 fz=(fz-3.0)/0.7, warm-start from smolvla_naive_0729 best@10k, 20k steps, val-best@2500. Offline deploy pick 2026-08-04 (stops at 6.8N first-contact + monotone force ramp; press-sim 0.6mm nominal / 3.4mm early). DEPLOY: override FILM_F0 = field hover baseline + 1.5 (~7)
- dataset: Chanho-Lee/lges_case_pick_0729
- base: lerobot/smolvla_base
FiLM checkpoints must be loaded with film_contact.apply() using the SAME cond/inject/mask_force as in the setting line (see LGES/vla_training).
