smolvla_dct_ur7e_chocopie_main_3000s_20260527_203752

DCT-tuned SmolVLA checkpoint for Method3 Phase2 on UR7e.

Task: UR7e Chocopie phase1 DCT VLA
Source dataset: CoRL2026-CSI/UR7e_phase1_Chocopie_10fps@main
Training steps: 3000
Batch size: 16
Gradient accumulation: 1
Camera rename: {'observation.images.realsense_wrist': 'observation.images.camera1', 'observation.images.realsense_topview': 'observation.images.camera2'}
Skill DCT parquet: artifacts/skill_dct.parquet

This repository contains the LeRobot pretrained_model files at repo root.

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0.5B params

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F32

BF16

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