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Generalist VLA Finetuning

Model card

Made by
Hugging Face
Size
450M parameters
Published
2 Jun 2025
More about the model
Publication
arXiv 2506.01844
Code
github.com/huggingface/lerobot
Weights licence
Apache 2.0 source
Actions per chunk
50 source
Smallest GPU
A consumer GPU, or a CPU source
Inference time
Under 100 ms round trip on a local network, served from an RTX 4090 source
Architecture
SmolVLM-2 vision-language model, first 16 layers, and a 100M flow-matching action expert source
Training data
481 community datasets on Hugging Face: 22.9K episodes, 10.6M frames source

Run with Positronic

Positronic-Robotics/positronic/vendors/lerobot source

Progress through a run

Each band shows how many runs of SmolVLA have placed that number of items at each second. The dashed line shows the mean share of placed items per run.

Loading runs...

Episodes

Each episode of SmolVLA on Pick and Place, the newest first.

116 episodes
Task Items placed Speed, items/min
Wooden spoons 0/8 -
Wooden spoons 0/8 -
Wooden spoons 0/8 -
Scissors 0/8 -
Scissors 0/8 -
Scissors 1/8 -
Scissors 2/8 1.0
Scissors 0/8 -
Batteries 0/8 -
Batteries 2/8 0.9
Batteries 1/8 -
Batteries 2/8 0.5
Towels 0/8 -
Towels 0/8 -
Scissors 0/8 -
Scissors 0/8 -
Scissors 0/8 -
Scissors 0/8 -
Scissors 0/8 -
Scissors 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Towels 0/8 -
Towels 0/8 -
Towels 0/8 -
Towels 2/8 2.5
Towels 0/8 -
Towels 5/8 2.1
Towels 0/8 -
Towels 0/8 -
Towels 2/8 1.9
Towels 0/8 -
Scissors 0/8 -
Wooden spoons 0/8 -
Scissors 1/8 -
Scissors 3/8 2.2
Scissors 1/8 1.0
Batteries 3/8 1.3
Batteries 1/8 2.2
Wooden spoons 0/8 -
Wooden spoons 0/8 -
Wooden spoons 1/8 -
Wooden spoons 0/8 -
Batteries 1/8 1.6
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Wooden spoons 0/8 -
Wooden spoons 4/8 2.2
Scissors 2/8 0.7
Scissors 2/8 0.9
Scissors 0/8 -
Scissors 2/8 1.8
Scissors 0/8 -
Batteries 0/8 -
Batteries 1/8 4.9
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 1/8 0.6
Batteries 0/8 -
Batteries 2/8 2.9
Batteries 0/8 -
Batteries 0/8 -
Wooden spoons 0/8 -
Scissors 3/4 1.6
Scissors 0/4 -
Scissors 0/4 -
Scissors 1/4 5.0
Towels 0/4 -
Towels 0/4 -
Towels 1/4 4.7
Towels 0/4 -
Towels 0/4 -
Towels 0/4 -
Towels 0/4 -
Towels 1/4 5.2
Towels 0/4 -
Towels 0/4 -
Towels 0/4 -
Towels 0/4 -
Towels 1/4 5.2
Towels 0/4 -
Towels 1/4 2.3
Scissors 0/8 -
Scissors 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Batteries 0/8 -
Wooden spoons 2/8 2.6
Wooden spoons 0/8 -
Wooden spoons 5/8 2.1
Wooden spoons 0/8 -
Wooden spoons 3/8 2.6
Wooden spoons 0/8 -
Wooden spoons 0/8 -
Wooden spoons 0/8 -
Wooden spoons 4/8 4.3
Wooden spoons 7/8 2.7
Wooden spoons 5/8 1.4
Wooden spoons 0/8 -
Wooden spoons 3/8 1.9
Wooden spoons 0/8 -
Wooden spoons 0/8 -
Wooden spoons 4/8 2.6
Wooden spoons 4/8 1.1
Wooden spoons 5/8 1.3