Views
No views yet
hanging_mug (50 ep, single instruction)hanging_mug task from RoboTwin 2.0 (demo_clean config), starting from the lerobot/smolvla_robotwin base checkpoint.dual_cam_global, cam_wrist_65, cam_wrist_75 (240×320, D435)"hang the mug on the rack" (Strategy A: single instruction, not multi)| Config | Value |
|---|---|
| Base checkpoint | lerobot/smolvla_robotwin |
| Training data | 50 RoboTwin demonstrations |
| Batch size | 32 |
| Steps | 6000 (~10-25 epochs) |
| Optimizer | AdamW, lr=1e-4 |
| Scheduler | Cosine, warmup=300, decay=6000 |
| Chunk size | 50 |
demo_clean config), 10 episodes, max_steps=400, action_chunk_exec=50.1from lerobot.policies.smolvla import SmolVLAPolicy
2
3policy = SmolVLAPolicy.from_pretrained("arrow-hf/smolvla-robotwin-hanging-mug-50ep")