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---
license: apache-2.0
datasets:
- masato-ka/smolvla_block_instruction
tags:
- robotics
- SmolVLA
- lerobot
pipeline_tag: robotics
---
# Model Card for smolvla_block_instruction
SmolVLA trained for the block handling with text instructions.
## How to Get Started with the Model
See the [Lerobot library](https://github.com/huggingface/lerobot)
We strong recommend the environment needs to be the same as the video. I use the camera of Macbook Air M2, Also The model was inference by Macbook Air M2 16GB.
You can run this model with below command. Instruction set to control.single_task property.
```bash
python erobot/scripts/control_robot.py
--robot.type=so100
--control.type=record
--control.fps=30
--control.single_task="Transfer the blue block onto the yellow plate."
--control.repo_id=<YOUR EVAL DATASET>
--control.warmup_time_s=5
--control.episode_time_s=60
--control.reset_time_s=10
--control.num_episodes=1
--control.push_to_hub=false
--control.policy.path=masato-ka/smolvla_block_instruct
--control.display_data=true
--control.policy.device=mps
```
This model trained with below instruction.
```aiignore
- Transfer the blue block onto the yellow plate.
- Position the blue block a top the yellow plate.
- Set the blue block down on the yellow plate.
- Place blue block on yellow plate.
- Blue block goes on the yellow plate!
- Put the blue one on the yellow thing.
- Yellow plate for the blue block!
- Completely remove the blue block from the yellow plate.
- The blue block must be taken away from the yellow plate.
- Dislodge the blue block from the yellow plate entirely."
- Get that blue block off the yellow plate!
- Take the blue thing away from the yellow one.
- Blue's gotta go from the yellow plate!
- Remove blue block from yellow plate.
```
## Training Details
Trained with [LeRobot@b536f47](https://github.com/huggingface/lerobot/tree/b536f47e3ff8c3b340fc5efa52f0ece0a7212a57).
The model was trained using [LeRobot's training script](https://github.com/huggingface/lerobot/blob/b536f47e3ff8c3b340fc5efa52f0ece0a7212a57/lerobot/scripts/train.py) and with the [masato-ka/so100_nlact_block_instruct_v3](https://huggingface.co/datasets/masato-ka/so100_nlact_block_instruct_v3) dataset, using this command:
```bash
!python lerobot/scripts/train.py \
--dataset.repo_id=masato-ka/so100_nlact_block_instruct_v3 \
--policy.path=lerobot/smolvla_base \
--batch_size=8 \
--output_dir=outputs/train/smolvla \
--job_name=smolvla_exp03 \
--policy.device=cuda \
--steps=40000\
--save_freq=20000 \
--wandb.enable=true \
--wandb.project=smolvla_test
```
This took about 3h to train on an Nvida A100. |