Is the entire pretraining dataset collected with the SO100 robot arm? I've briefly checked the datasets listed at the end of the paper, seems that all of them are collected by the SO100 robot arm.

If so, after finetuning, your model can works on another robot arm like Franka in LIBERO, that would be pretty interesting

commented a paper 2 months ago

SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics

Paper • 2506.01844 • Published Jun 2 • 127 •

upvoted a collection 2 months ago

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Small, efficient and light-weight VLAs pretrained on community datasets • 1 item • Updated Jun 1 • 27

upvoted an article 2 months ago

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SmolVLA: Efficient Vision-Language-Action Model trained on Lerobot Community Data

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ZHAO Runyi

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SmolVLA: Efficient Vision-Language-Action Model trained on Lerobot Community Data