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Cache-SCA/smolvla_dct_ur7e_pnp_3000s_20260527_003504

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smolvladctur7epnp3000s20260527003504

DCT-tuned SmolVLA checkpoint for Method3 Phase2 on UR7e.

—Task: UR7e Pick-and-Place phase1 DCT VLA
—Source dataset: CoRL2026-CSI/UR7e_Pnp_phase1_80epi@v3.0
—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.