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Sponsored by
APIMart
crislmfroes / smolvla-aloha-sim-transfer-cube-scripted
Model's Last Updated: June 30 2026
robotics
Introduction of smolvla-aloha-sim-transfer-cube-scripted
Model Details of smolvla-aloha-sim-transfer-cube-scripted
Model Card for smolvla
SmolVLA is a compact, efficient vision-language-action model that achieves competitive performance at reduced computational costs and can be deployed on consumer-grade hardware.
This policy has been trained and pushed to the Hub using LeRobot .
Learn how to train and run it in the LeRobot smolvla guide , or browse the full documentation .
Model Details
- License: apache-2.0
- Fine-tuned from: lerobot/smolvla_base
-
Robot type:
aloha -
Cameras:
top
Inputs & Outputs
The policy consumes these observation features and produces these action features.
Inputs
| Feature | Type | Shape |
|---|---|---|
observation.images.top
|
VISUAL |
(3, 480, 640)
|
observation.state
|
STATE |
(14,)
|
Outputs
| Feature | Type | Shape |
|---|---|---|
action
|
ACTION |
(14,)
|
Training Dataset
- Repository: lerobot/aloha_sim_transfer_cube_scripted
- Episodes: 50
- Frames: 20000
- Frame rate: 50 FPS
- Task(s): "Pick up the cube with the right arm and transfer it to the left arm."
Training Configuration
| Setting | Value |
|---|---|
| Training steps | 3000 |
| Batch size | 8 |
| Optimizer | adamw |
| Learning rate | 0.0001 |
| Seed | 1000 |
| LeRobot version | 0.5.2 |
How to Get Started with the Model
New to LeRobot? These guides cover the full workflow:
-
Install LeRobot
— set up the
lerobotpackage. - Hardware setup — assemble, wire, and calibrate your robot and cameras.
- Record data & train a policy — the end-to-end imitation-learning walkthrough.
-
CLI cheat-sheet
— quick reference for the
lerobot-*commands.
The short version to run and train this policy:
Run the policy on your robot
lerobot-rollout \
--strategy.type=base \
--robot.type=aloha \
--robot.port=<your_robot_port> \
--robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
--policy.path=crislmfroes/smolvla-aloha-sim-transfer-cube-scripted \
--task="Pick up the cube with the right arm and transfer it to the left arm." \
--duration=60
Replace the remaining
<...>
placeholders with your own values:
--robot.port
and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.
When
--strategy.type=base
is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at
rollout documentation
.
Train your own policy
This policy type is usually fine-tuned from the pretrained base model lerobot/smolvla_base :
lerobot-train \
--dataset.repo_id=${HF_USER}/<dataset> \
--policy.path=lerobot/smolvla_base \
--output_dir=outputs/train/<policy_repo_id> \
--job_name=lerobot_training \
--policy.device=cuda \
--policy.repo_id=${HF_USER}/<policy_repo_id> \
--wandb.enable=true
Writes checkpoints to
outputs/train/<policy_repo_id>/checkpoints/
.
Evaluation
No evaluation results have been provided for this policy yet.
Citation
If you use this policy, please cite the method linked in the description above, along with LeRobot:
@misc{cadene2024lerobot,
author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
howpublished = "\url{https://github.com/huggingface/lerobot}",
year = {2024}
}
Runs of crislmfroes smolvla-aloha-sim-transfer-cube-scripted on huggingface.co
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24-hour runs
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3-day runs
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More Information About smolvla-aloha-sim-transfer-cube-scripted huggingface.co Model
Url of smolvla-aloha-sim-transfer-cube-scripted
smolvla-aloha-sim-transfer-cube-scripted huggingface.co Url
Provider of smolvla-aloha-sim-transfer-cube-scripted huggingface.co
Other API from crislmfroes
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