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| Architecture | smolvla (base: lerobot/smolvla_base) |
| Dataset | cucumber-place-elevator-home-doris082026-v1-trim @ 90107bd6 |
| Scale | 744 episodes · 95,399 frames @ 20 fps |
| Steps / batch / seed | 40,000 / 32 / 42 |
| lerobot | d114d3b1 |
| Provider / GPU | runpod / NVIDIA A100-SXM4-80GB · pod video preprocess (512px H.264, RGB tracks only) |
| Duration | 4h 53m |
| Final train loss | 0.052 |
| W&B | vds34-913e6ab5 |
| Instruction | Episodes |
|---|---|
| place the cucumber on the middle of the cutting board, aligned vertically in the image, with the back end of the cucumber under the blue gripper | 264 |
| grab the cucumber close to one of the cucumber's end | 201 |
| peel the skin of the cucumber with several strokes, starting close to the blue gripper and moving vertically along the cucumber toward the robot origin | 188 |
| place the cucumber on the middle of the cutting board, aligned vertically in the image, with the back end of the cucumber close to the upper edge of the cutting board | 91 |
| Task | jetson1 | unrecorded:cucumber-place-DAgger-iter0-v1-trim | vibepi | Total |
|---|---|---|---|---|
| place the cucumber on the middle of the cutting board, alig… | 150 | 50 | 64 | 264 |
| grab the cucumber close to one of the cucumber's end | 142 | 0 | 59 | 201 |
| peel the skin of the cucumber with several strokes, startin… | 117 | 0 | 71 | 188 |
| place the cucumber on the middle of the cutting board, alig… | 49 | 0 | 42 | 91 |
| Total | 458 | 50 | 236 | 744 |
config.json): observation.images.camera1, observation.images.camera2, observation.images.camera3base→camera1, top→camera2, wrist→camera3cucumber-place-elevator-home-doris082026@v1 (frozen 2026-08-21):vibepi-place-elevator-home-doris082026 @ ba53af98 (42 eps)jetson1-place-elevator-home-doris081926 @ 88cfecf6 (49 eps)cucumber-grab-place-peel-doris072326-v1-flat @ 61e62b18 (653 eps)lerobot-train --policy.path=lerobot/smolvla_base --policy.repo_id=VibeCuisine/smolvla-cucumber-grab-place-peel-doris082126 --dataset.repo_id=VibeCuisine/cucumber-place-elevator-home-doris082026-v1-trim --dataset.revision=90107bd63b9f1ca65743c571afa5ece62798fddd --batch_size=32 --steps=40000 --output_dir=outputs/train/smolvla-cucumber-grab-place-peel-doris082126 --job_name=smolvla-cucumber-grab-place-peel-doris082126 --policy.device=cuda --wandb.enable=true --wandb.disable_artifact=true --wandb.project=lerobot --wandb.run_id=vds34-913e6ab5 --wandb.entity=jeremyhx-freelance --seed=42 --rename_map='{"observation.images.base": "observation.images.camera1", "observation.images.top": "observation.images.camera2", "observation.images.wrist": "observation.images.camera3"}' --dataset.eval_split=0.1 --eval_steps=800--num_workers is appended host-side (clamped to the host's allocation).