Upload policy weights, train config and readme

README.md

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+---
+datasets: hbseong/record-stacking-so101
+library_name: lerobot
+license: apache-2.0
+model_name: internvla
+pipeline_tag: robotics
+tags:
+- lerobot
+- robotics
+- internvla
+---
+
+# Model Card for internvla
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+_Model type not recognized — please update this template._
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

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+{
+    "type": "internvla",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.right": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "push_to_hub": true,
+    "repo_id": "hbseong/internvla_stacking_so101_baseline",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": 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": [
+        448,
+        448
+    ],
+    "empty_cameras": 0,
+    "adapt_to_pi_aloha": false,
+    "use_delta_joint_actions_aloha": false,
+    "tokenizer_max_length": 48,
+    "num_steps": 10,
+    "use_cache": true,
+    "freeze_vision_encoder": true,
+    "train_expert_only": true,
+    "train_state_proj": true,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-10,
+    "optimizer_grad_clip_norm": 10,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06,
+    "vlm_model_name": "OpenGVLab/InternVL3-1B-hf",
+    "load_vlm_weights": true,
+    "add_image_special_tokens": false,
+    "attention_mode": "cross_attn",
+    "prefix_length": -1,
+    "pad_language_to": "longest",
+    "num_expert_layers": -1,
+    "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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+oid sha256:c58be60cdcf142a4ad4810d0f4f1576499889f3371dff268ea1aaf5a51eb9430
+size 1801658456

train_config.json

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+    "dataset": {
+        "repo_id": "hbseong/record-stacking-so101",
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+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
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+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
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+                    "type": "SharpnessJitter",
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+                "affine": {
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+                    "type": "RandomAffine",
+                    "kwargs": {
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
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+    "env": null,
+    "policy": {
+        "type": "internvla",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
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+        "device": "cuda",
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+        "push_to_hub": true,
+        "repo_id": "hbseong/internvla_stacking_so101_baseline",
+        "private": null,
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+        "chunk_size": 50,
+        "n_action_steps": 50,
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+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
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+        "max_action_dim": 32,
+        "resize_imgs_with_padding": [
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+        "adapt_to_pi_aloha": false,
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+        "use_cache": true,
+        "freeze_vision_encoder": true,
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+        "optimizer_grad_clip_norm": 10,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06,
+        "vlm_model_name": "OpenGVLab/InternVL3-1B-hf",
+        "load_vlm_weights": true,
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+    "output_dir": "outputs/train/internvla_stacking_so101_baseline",
+    "job_name": "internvla_stacking_so101_baseline",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 8,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
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+    "use_policy_training_preset": true,
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+        "notes": null,
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+    "rename_map": {}
+}