{ "bundle": { "digest": { "algorithm": "sha256", "scope": "structure", "value": "9d469d0ec5c4a2198dc88598ee0104ef38aa48c38a225864aae2cf008f8738cf" }, "files": [ { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/added_tokens.json" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/chat_template.json" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/config.json" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/generation_config.json" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/merges.txt" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/model.safetensors" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/preprocessor_config.json" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/processor_config.json" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/special_tokens_map.json" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/tokenizer.json" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/tokenizer_config.json" }, { "path": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct/vocab.json" }, { "path": "config.json" }, { "path": "model.safetensors" }, { "path": "policy_postprocessor.json" }, { "path": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" }, { "path": "policy_preprocessor.json" }, { "path": "policy_preprocessor_step_5_normalizer_processor.safetensors" } ], "name": "smolvla", "revision": 1, "uuid": "7131ec7f-8cad-46a8-862c-9c6abbd32335" }, "deployments": { "rknn_rk3588": { "artifacts": { "action": { "format": "rknn", "path": "artifacts/rknn/rknn_rk3588/generations/cc1c69ec-884f-4bc7-9873-598f74e3dfad/action.rknn", "sha256": "021fbce1e1497881ec3321ed37e12e58fa7ad79e1d6d506336c8758803cd5538" }, "embedding": { "format": "pt", "path": "artifacts/rknn/rknn_rk3588/generations/2602144b-79cb-46cd-ace1-c8edae07dd95/embedding.pt", "sha256": "e05cfb3682483ca4e9d8f3711d83845c4f20b749e759f5f74281b73b33ce54d0" }, "prefill": { "format": "rknn", "path": "artifacts/rknn/rknn_rk3588/generations/b7eac25d-6039-4874-9070-ee3fff065a23/prefill.rknn", "sha256": "b0aa47da27ebbc2f1f7d9c6d1bce0d882a442242b0f5398a390c6e6b7d0794d8" }, "state_projection": { "format": "pt", "path": "artifacts/rknn/rknn_rk3588/generations/b1e5816f-3a51-4749-8f26-a1288a1de15b/state_projection.pt", "sha256": "26bdae373faf23dca73c13582ad64b54d154f377563ff16f648f5954fb482149" }, "vision_top": { "format": "rknn", "path": "artifacts/rknn/rknn_rk3588/generations/f144bf1e-1c9e-433d-bf5e-79fdcbb9a40f/vision.rknn", "sha256": "237b1e99e8c167dbffc72736ff2b8e3d7efbb16780be948d2991d6599cf81089", "share_group": "shared-vision" }, "vision_wrist": { "format": "rknn", "path": "artifacts/rknn/rknn_rk3588/generations/f144bf1e-1c9e-433d-bf5e-79fdcbb9a40f/vision.rknn", "sha256": "237b1e99e8c167dbffc72736ff2b8e3d7efbb16780be948d2991d6599cf81089", "share_group": "shared-vision" } }, "bindings": { "action": { "inputs": [ { "dtype": "float32", "index": 0, "runtime_name": "x_t", "semantic": "noise", "shape": [ 1, 50, 32 ] }, { "dtype": "float32", "index": 1, "runtime_name": "timestep", "semantic": "time", "shape": [ 1 ] }, { "dtype": "bool", "index": 2, "runtime_name": "prefix_pad_masks", "semantic": "internal.prefix_pad_masks", "shape": [ 1, 177 ] }, { "dtype": "float32", "index": 3, "runtime_name": "past_key_0", "semantic": "internal.past_key.0", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 4, "runtime_name": "past_value_0", "semantic": "internal.past_value.0", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 5, "runtime_name": "past_key_1", "semantic": "internal.past_key.1", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 6, "runtime_name": "past_value_1", "semantic": "internal.past_value.1", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 7, "runtime_name": "past_key_2", "semantic": "internal.past_key.2", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 8, "runtime_name": "past_value_2", "semantic": "internal.past_value.2", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 9, "runtime_name": "past_key_3", "semantic": "internal.past_key.3", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 10, "runtime_name": "past_value_3", "semantic": "internal.past_value.3", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 11, "runtime_name": "past_key_4", "semantic": "internal.past_key.4", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 12, "runtime_name": "past_value_4", "semantic": "internal.past_value.4", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 13, "runtime_name": "past_key_5", "semantic": "internal.past_key.5", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 14, "runtime_name": "past_value_5", "semantic": "internal.past_value.5", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 15, "runtime_name": "past_key_6", "semantic": "internal.past_key.6", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 16, "runtime_name": "past_value_6", "semantic": "internal.past_value.6", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 17, "runtime_name": "past_key_7", "semantic": "internal.past_key.7", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 18, "runtime_name": "past_value_7", "semantic": "internal.past_value.7", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 19, "runtime_name": "past_key_8", "semantic": "internal.past_key.8", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 20, "runtime_name": "past_value_8", "semantic": "internal.past_value.8", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 21, "runtime_name": "past_key_9", "semantic": "internal.past_key.9", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 22, "runtime_name": "past_value_9", "semantic": "internal.past_value.9", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 23, "runtime_name": "past_key_10", "semantic": "internal.past_key.10", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 24, "runtime_name": "past_value_10", "semantic": "internal.past_value.10", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 25, "runtime_name": "past_key_11", "semantic": "internal.past_key.11", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 26, "runtime_name": "past_value_11", "semantic": "internal.past_value.11", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 27, "runtime_name": "past_key_12", "semantic": "internal.past_key.12", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 28, "runtime_name": "past_value_12", "semantic": "internal.past_value.12", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 29, "runtime_name": "past_key_13", "semantic": "internal.past_key.13", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 30, "runtime_name": "past_value_13", "semantic": "internal.past_value.13", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 31, "runtime_name": "past_key_14", "semantic": "internal.past_key.14", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 32, "runtime_name": "past_value_14", "semantic": "internal.past_value.14", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 33, "runtime_name": "past_key_15", "semantic": "internal.past_key.15", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 34, "runtime_name": "past_value_15", "semantic": "internal.past_value.15", "shape": [ 1, 177, 5, 64 ] } ], "outputs": [ { "dtype": "float32", "index": 0, "runtime_name": "v_t", "semantic": "action", "shape": [ 1, 50, 32 ] } ] }, "embedding": { "inputs": [ { "dtype": "float32", "index": 0, "runtime_name": "image_0", "semantic": "internal.image_embedding.top", "shape": [ 1, 64, 960 ] }, { "dtype": "float32", "index": 1, "runtime_name": "image_1", "semantic": "internal.image_embedding.wrist", "shape": [ 1, 64, 960 ] }, { "dtype": "int64", "index": 2, "runtime_name": "tokens", "semantic": "observation.language.tokens", "shape": [ 1, 48 ] }, { "dtype": "bool", "index": 3, "runtime_name": "language_mask", "semantic": "observation.language.attention_mask", "shape": [ 1, 48 ] }, { "dtype": "float32", "index": 4, "runtime_name": "state", "semantic": "observation.state", "shape": [ 1, 32 ] } ], "outputs": [ { "dtype": "float32", "index": 0, "runtime_name": "prefix_embeddings", "semantic": "internal.prefix_embeddings", "shape": [ 1, 177, 960 ] }, { "dtype": "bool", "index": 1, "runtime_name": "prefix_pad_masks", "semantic": "internal.prefix_pad_masks", "shape": [ 1, 177 ] }, { "dtype": "int64", "index": 2, "runtime_name": "attention_mask", "semantic": "internal.attention_mask", "shape": [ 1, 177, 177 ] }, { "dtype": "int64", "index": 3, "runtime_name": "position_ids", "semantic": "internal.position_ids", "shape": [ 1, 177 ] } ] }, "prefill": { "inputs": [ { "dtype": "float32", "index": 0, "runtime_name": "prefix_embs", "semantic": "internal.prefix_embeddings", "shape": [ 1, 177, 960 ] }, { "dtype": "int64", "index": 1, "runtime_name": "attention_mask", "semantic": "internal.attention_mask", "shape": [ 1, 177, 177 ] }, { "dtype": "int64", "index": 2, "runtime_name": "position_ids", "semantic": "internal.position_ids", "shape": [ 1, 177 ] } ], "outputs": [ { "dtype": "float32", "index": 0, "runtime_name": "past_key_0", "semantic": "internal.past_key.0", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 1, "runtime_name": "past_value_0", "semantic": "internal.past_value.0", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 2, "runtime_name": "past_key_1", "semantic": "internal.past_key.1", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 3, "runtime_name": "past_value_1", "semantic": "internal.past_value.1", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 4, "runtime_name": "past_key_2", "semantic": "internal.past_key.2", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 5, "runtime_name": "past_value_2", "semantic": "internal.past_value.2", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 6, "runtime_name": "past_key_3", "semantic": "internal.past_key.3", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 7, "runtime_name": "past_value_3", "semantic": "internal.past_value.3", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 8, "runtime_name": "past_key_4", "semantic": "internal.past_key.4", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 9, "runtime_name": "past_value_4", "semantic": "internal.past_value.4", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 10, "runtime_name": "past_key_5", "semantic": "internal.past_key.5", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 11, "runtime_name": "past_value_5", "semantic": "internal.past_value.5", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 12, "runtime_name": "past_key_6", "semantic": "internal.past_key.6", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 13, "runtime_name": "past_value_6", "semantic": "internal.past_value.6", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 14, "runtime_name": "past_key_7", "semantic": "internal.past_key.7", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 15, "runtime_name": "past_value_7", "semantic": "internal.past_value.7", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 16, "runtime_name": "past_key_8", "semantic": "internal.past_key.8", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 17, "runtime_name": "past_value_8", "semantic": "internal.past_value.8", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 18, "runtime_name": "past_key_9", "semantic": "internal.past_key.9", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 19, "runtime_name": "past_value_9", "semantic": "internal.past_value.9", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 20, "runtime_name": "past_key_10", "semantic": "internal.past_key.10", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 21, "runtime_name": "past_value_10", "semantic": "internal.past_value.10", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 22, "runtime_name": "past_key_11", "semantic": "internal.past_key.11", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 23, "runtime_name": "past_value_11", "semantic": "internal.past_value.11", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 24, "runtime_name": "past_key_12", "semantic": "internal.past_key.12", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 25, "runtime_name": "past_value_12", "semantic": "internal.past_value.12", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 26, "runtime_name": "past_key_13", "semantic": "internal.past_key.13", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 27, "runtime_name": "past_value_13", "semantic": "internal.past_value.13", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 28, "runtime_name": "past_key_14", "semantic": "internal.past_key.14", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 29, "runtime_name": "past_value_14", "semantic": "internal.past_value.14", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 30, "runtime_name": "past_key_15", "semantic": "internal.past_key.15", "shape": [ 1, 177, 5, 64 ] }, { "dtype": "float32", "index": 31, "runtime_name": "past_value_15", "semantic": "internal.past_value.15", "shape": [ 1, 177, 5, 64 ] } ] }, "vision_top": { "inputs": [ { "dtype": "float32", "index": 0, "layout": "NCHW", "runtime_name": "pixel_values", "semantic": "observation.images.top", "shape": [ 1, 3, 512, 512 ] } ], "outputs": [ { "dtype": "float32", "index": 0, "runtime_name": "image_embeddings", "semantic": "internal.image_embedding.top", "shape": [ 1, 64, 960 ] } ] }, "vision_wrist": { "inputs": [ { "dtype": "float32", "index": 0, "layout": "NCHW", "runtime_name": "pixel_values", "semantic": "observation.images.wrist", "shape": [ 1, 3, 512, 512 ] } ], "outputs": [ { "dtype": "float32", "index": 0, "runtime_name": "image_embeddings", "semantic": "internal.image_embedding.wrist", "shape": [ 1, 64, 960 ] } ] } }, "execution": [ "vision_top", "vision_wrist", "embedding", "prefill", "action" ], "execution_contract": { "cancellation_granularity": "request_boundary", "execution_structure": "direct", "state_scope": "request" }, "revision": 1, "runtime_profile": { "backend": "rknn", "profile": { "device_id": 0, "target_name": "rk3588" }, "target": { "runtime": "rknn-lite2", "soc": "rk3588" } }, "uuid": "f0697c61-8379-48ce-a12c-ba46afff4ffa" }, "torch-cpu": { "execution_contract": { "cancellation_granularity": "request_boundary", "execution_structure": "direct", "state_scope": "request" }, "revision": 1, "runtime_profile": { "backend": "torch", "profile": { "device": "cpu" }, "target": { "runtime": "torch" } }, "uuid": "063cdce6-c908-4e78-aa39-847d4601eb33" }, "torch-cuda": { "execution_contract": { "cancellation_granularity": "request_boundary", "execution_structure": "direct", "state_scope": "request" }, "revision": 1, "runtime_profile": { "backend": "torch", "profile": { "device": "cuda" }, "target": { "runtime": "torch" } }, "uuid": "adaa0826-0bab-4b83-a861-7acacbbc1b44" } }, "model": { "inputs": [ { "dtype": "float32", "semantic": "observation.state", "shape": [ 6 ] }, { "dtype": "float32", "semantic": "observation.current", "shape": [ 6 ] }, { "dtype": "float32", "semantic": "observation.images.top", "shape": [ 3, 480, 640 ] }, { "dtype": "float32", "semantic": "observation.images.wrist", "shape": [ 3, 480, 640 ] } ], "interface": "policy", "model_type": "smolvla", "operation": "predict", "outputs": [ { "dtype": "float32", "semantic": "action", "shape": [ 6 ] } ] }, "schema_version": 3 }