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README.md

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+---
+pipeline_tag: robotics
+tags:
+- smolvla
+library_name: lerobot
+datasets:
+- lerobot/svla_so101_pickplace
+---
+
+## SmolVLA: A vision-language-action model for affordable and efficient robotics
+
+Resources and technical documentation:
+
+[SmolVLA Paper](https://huggingface.co/papers/2506.01844)
+
+[SmolVLA Blogpost](https://huggingface.co/blog/smolvla)
+
+[Code](https://github.com/huggingface/lerobot/blob/main/lerobot/common/policies/smolvla/modeling_smolvla.py)
+
+[Train using Google Colab Notebook](https://colab.research.google.com/github/huggingface/notebooks/blob/main/lerobot/training-smolvla.ipynb#scrollTo=ZO52lcQtxseE)
+
+[SmolVLA HF Documentation](https://huggingface.co/docs/lerobot/smolvla)
+
+Designed by Hugging Face.
+
+This model has 450M parameters in total.
+You can use inside the [LeRobot library](https://github.com/huggingface/lerobot).
+
+Before proceeding to the next steps, you need to properly install the environment by following [Installation Guide](https://huggingface.co/docs/lerobot/installation) on the docs.
+
+Install smolvla extra dependencies:
+```bash
+pip install -e ".[smolvla]"
+```
+
+Example of finetuning the smolvla pretrained model (`smolvla_base`):
+```bash
+python lerobot/scripts/train.py \
+  --policy.path=lerobot/smolvla_base \
+  --dataset.repo_id=lerobot/svla_so101_pickplace \
+  --batch_size=64 \
+  --steps=20000 \
+  --output_dir=outputs/train/my_smolvla \
+  --job_name=my_smolvla_training \
+  --policy.device=cuda \
+  --wandb.enable=true
+```
+
+Example of finetuning the smolvla neural network with pretrained VLM and action expert
+intialized from scratch:
+```bash
+python lerobot/scripts/train.py \
+  --dataset.repo_id=lerobot/svla_so101_pickplace \
+  --batch_size=64 \
+  --steps=200000 \
+  --output_dir=outputs/train/my_smolvla \
+  --job_name=my_smolvla_training \
+  --policy.device=cuda \
+  --wandb.enable=true
+```

config.json

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+{
+    "type": "smolvla",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+                6
+            ]
+        },
+        "observation.images.camera1": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256
+            ]
+        },
+        "observation.images.camera2": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                256
+            ]
+        },
+        "observation.images.camera3": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "push_to_hub": true,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "resize_imgs_with_padding": [
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
+    "load_vlm_weights": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": 0,
+    "pad_language_to": "max_length",
+    "num_expert_layers": 0,
+    "num_vlm_layers": 16,
+    "self_attn_every_n_layers": 2,
+    "expert_width_multiplier": 0.75,
+    "min_period": 0.004,
+    "max_period": 4.0
+}

model.safetensors

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policy_postprocessor.json

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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

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policy_preprocessor.json

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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "smolvla_new_line_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 48,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.image2": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              256,
+              256
+            ]
+          },
+          "observation.image": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              256,
+              256
+            ]
+          },
+          "observation.image3": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              256,
+              256
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_preprocessor_step_5_normalizer_processor.safetensors"
+    }
+  ]
+}

policy_preprocessor_step_5_normalizer_processor.safetensors

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