# SmolVLA Fine-tuned on roco_2 (Gearbox Assembly)

This model is a fine-tuned version of `lerobot/smolvla_base` on the `yjsm1203/roco_2` dataset for gearbox assembly task.

## Model Details

| Item | Value |
|------|-------|
| **Base Model** | `lerobot/smolvla_base` |
| **Dataset** | `yjsm1203/roco_2` |
| **Task** | Gearbox Assembly |
| **Parameters** | ~450M (100M trainable) |
| **Training Steps** | 20,000 |
| **Final Loss** | 0.006 |

## Training Configuration

- **Batch Size**: 64
- **Learning Rate**: 1e-4 (with warmup and cosine decay)
- **GPU**: RTX 5090 (32GB VRAM)
- **Training Time**: ~6.5 hours

## Training Command

```bash
lerobot-train \
  --policy.path=lerobot/smolvla_base \
  --dataset.repo_id=yjsm1203/roco_2 \
  --dataset.root=./data/roco_2 \
  --batch_size=64 \
  --steps=20000 \
  --output_dir=outputs/train/roco_smolvla \
  --job_name=roco_smolvla_gearbox \
  --policy.device=cuda \
  --save_freq=5000 \
  --log_freq=100 \
  --wandb.enable=false \
  --policy.repo_id=jonhpark/roco_smolvla \
  --rename_map='{"observation.images.head": "observation.images.camera1", "observation.images.left_hand": "observation.images.camera2", "observation.images.right_hand": "observation.images.camera3"}'
```

## Task Description

```
Assemble the gearbox by placing each small gear onto the tree pins one at a time.
Install the last small gear in the center, then put the cover on.
```

## Dataset Features

- **observation.images.head**: (3, 240, 320) - Head camera
- **observation.images.left_hand**: (3, 240, 320) - Left hand camera
- **observation.images.right_hand**: (3, 240, 320) - Right hand camera
- **observation.state**: (28,) - Robot state
- **action**: (14,) - Robot action

## Usage

```python
from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy

policy = SmolVLAPolicy.from_pretrained("jonhpark/roco_smolvla")
policy.to("cuda")

# Use with your robot or evaluation environment
```

## Training Metrics

| Step | Loss | Gradient Norm |
|------|------|---------------|
| 100 | 1.149 | 4.229 |
| 1,000 | 0.067 | 0.565 |
| 5,000 | 0.019 | 0.334 |
| 10,000 | 0.010 | 0.279 |
| 15,000 | 0.006 | 0.231 |
| 20,000 | 0.006 | 0.185 |

## Checkpoints

Available checkpoints in this repository:
- `checkpoints/005000/` - Step 5,000
- `checkpoints/010000/` - Step 10,000
- `checkpoints/015000/` - Step 15,000
- `checkpoints/020000/` - Step 20,000 (Final)

## License

Apache 2.0