---
license: apache-2.0
library_name: lerobot
base_model: lerobot/smolvla_base
pipeline_tag: robotics
tags:
  - lerobot
  - smolvla
  - robotics
  - ur7e
  - imitation-learning
  - code-as-policies
  - CoRL2026
datasets:
  - CoRL2026-CSI/UR7e-CaP_arrange_block_100epi_10fps_state_tplus1_action
---

# smolVLA · UR7e · arrange_block (50 epoch, tp1)

[lerobot/smolvla_base](https://huggingface.co/lerobot/smolvla_base) 를 [CoRL2026-CSI/UR7e-CaP_arrange_block_100epi_10fps_state_tplus1_action](https://huggingface.co/datasets/CoRL2026-CSI/UR7e-CaP_arrange_block_100epi_10fps_state_tplus1_action) 데이터셋으로 50 epoch 파인튜닝한 SmolVLA 정책 모델.

## Model details

- **Base model**: `lerobot/smolvla_base` (SmolVLM2-500M-Video-Instruct + action expert)
- **Robot**: UR7e (7-DOF, gripper 포함)
- **Cameras**: `realsense_topview`, `realsense_wrist` (480×640 → 256×256 resize)
- **Action**: 7D joint positions (6 joints + gripper)
- **State variant**: `state_tplus1_action` (state at t+1, action at t)

## Training

| Config | Value |
|---|---|
| Dataset | [CoRL2026-CSI/UR7e-CaP_arrange_block_100epi_10fps_state_tplus1_action](https://huggingface.co/datasets/CoRL2026-CSI/UR7e-CaP_arrange_block_100epi_10fps_state_tplus1_action) (47116 frames, 100 episodes) |
| Steps | 9300 (= 50 epoch) |
| Global batch | 256 (BATCH=64 × NUM_GPUS=4) |
| Optimizer | AdamW (lerobot smolvla preset) |
| Mixed precision | no (bf16 inference) |
| Image augmentation | brightness / contrast / saturation / hue / sharpness / affine, max 3 random |
| Hardware | 4× H100 80GB |

학습 스크립트: `scripts/ur7e_tplus1/train_smolvla_arrange_block.sh` (CoRL2026 lerobot fork).

## Camera rename

LeRobot dataset 의 카메라 키와 SmolVLA 정책 키 매핑:

| Dataset key | Policy key |
|---|---|
| `observation.images.realsense_wrist` | `observation.images.camera1` |
| `observation.images.realsense_topview` | `observation.images.camera2` |

## Usage

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

policy = SmolVLAPolicy.from_pretrained("CoRL2026-CSI/smolVLA_UR7e_arrange_block_50epoch_tp1")
```

## Citation / Acknowledgement

Built on top of [LeRobot](https://github.com/huggingface/lerobot) and the [SmolVLA](https://huggingface.co/lerobot/smolvla_base) checkpoint. Project: CoRL 2026 CSI submission.