Prashant Thakur

lerobot/smolvlabase fine-tuned on Prashant-77/thaliall (1050 scripted-expert episodes, 7 skills, language-conditioned, 3 cameras). Camera keys are renamed at train and inference time: overhead → camera1, wrista → camera2, wristb → camera3 (--renamemap; runtime/executors.py applies the same map). Checkpoints in this repo. Root = 20 000 total steps. step14000/ = the best per-skill checkpoint (14 000 steps at batch 16 on a T4; the last 6 000 steps ran at batch 4 with a fresh optimizer on a smaller GPU and lost ground). Policy-only success per skill from task-consistent start states, 20 held-out seeds (eval/skilleval.py --kind smolvla): The scripted expert reaches 9/10 on the full task; the…