SmolVLA-SafaiBot-v0 (Phase 0 Stub)
Toy checkpoint from Phase 0 of the safai-vla project.
This is NOT a production model. It is a stub MLP trained on 500 MuJoCo
episodes to validate the training pipeline end-to-end. Real model training
happens in Phase 1 with Isaac Sim on DGX Cloud.
Architecture
- Base: Stub 4-layer MLP (state -> action), NOT SmolVLA
- Input: 18-dim proprioceptive state (joint_pos + joint_vel + ee_pos + ee_quat + base_pos)
- Output: 7-DOF action
- Parameters: ~105K total
- Training: 20 steps, MSE loss, Adam optimizer
Intended Use
Pipeline validation only. Do not deploy on a real robot.
Source
- GitHub: saralsystems/safai-vla
- Dataset: safai-vla-mujoco-v0
- License: Apache 2.0
