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pi05_cubestack_cent_3client
DecentVLA/pi05_cubestack_cent_3client
pi05_cubestack_cent_3client is a robotics model from DecentVLA. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.
Centralized ceiling: full fine-tune on the POOLED union of all 6 tasks (2 per arm across harry/zhekai/kevin), 22500 steps. Shared pooled-6-repo normalizer. The upper bound for the 3-client local < FL < cent comparison.
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Jul 15, 2026
- Updated
- Jul 15, 2026
- SHA
- 8d143ca5
Base models
Model card
From the Hugging Face model README
pi0.5 CubeStack — Centralized (3-client union)
Centralized ceiling: full fine-tune on the POOLED union of all 6 tasks (2 per arm across harry/zhekai/kevin), 22500 steps. Shared pooled-6-repo normalizer. The upper bound for the 3-client local < FL < cent comparison.
lerobot-native export (portable tokenizer, real 6-D action/state; --policy.compile_model=false).
SO-101 CubeStack, cameras base_0_rgb/left_wrist_0_rgb. Trained on Isambard-AI (GH200)
with decent-vla. Part of the 3-client pi0.5
CubeStack federated study (color-pair non-IID: c0=harry Green/Orange, c1=zhekai Green/Blue,
c2=kevin Orange/Blue; each client blind to the 3rd color).
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jul 15, 2026
- Updated
- Jul 15, 2026