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lerobot-clone/src/lerobot
Pepijn 083d3cd419 tune(smolvla2): soften flow:text loss split from 10:1 to 5:1
The Pi 0.5 α=10 split assumed text is a rare auxiliary task. With the
flow-only `low_level` recipe (~40% of the blend) now rendering, the flow
term fires often and at 10x weight dominates the shared VLM backbone,
starving the text head into degenerate repetition decoding. A 5:1 split
keeps actions primary while leaving the language head enough gradient.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
2026-05-17 16:00:08 +02:00
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