lerobot-train \
  --policy.path=pravsels/smolvla_object_top_shelf \
  --dataset.repo_id=${HF_USER}/mydataset \
  --batch_size=64 \
  --steps=20000 \
  --output_dir=outputs/train/my_smolvla \
  --job_name=my_smolvla_training \
  --policy.device=cuda \
  --wandb.enable=true

Run on robot

bash

lerobot-record \
  --robot.type=so101_follower \
  --robot.port=/dev/ttyACM0 \
  --robot.id=my_follower_arm \
  --robot.cameras="{ top: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}, wrist: {...}, front: {...} }" \
  --dataset.single_task="Place the object on the top shelf." \
  --dataset.repo_id=${HF_USER}/eval_object_top_shelf \
  --dataset.episode_time_s=50 \
  --dataset.num_episodes=10 \
  --policy.path=pravsels/smolvla_object_top_shelf

Model Details

License: apache-2.0