Downloads · 30 days
14
16% of all-time downloads
pi05_cubestack_fl_3client
DecentVLA/pi05_cubestack_fl_3client
pi05_cubestack_fl_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.
Federated global model: FedAvg over 3 color-pair clients, 30 rounds x 250 local steps, full fine-tune. Shared pooled-6-repo normalizer. The FL method point vs the centralized ceiling and the local-only floor.
All-time downloads
89
Public
Parameters
3.6B
14.5 GB on disk
Likes
0
Public
Repo makeup
Click a slice to open those files.
.safetensors14.5 GB · 100%
At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Jul 15, 2026
- Updated
- Jul 15, 2026
- SHA
- 28ed54f6
Base models
Model card
From the Hugging Face model README
pi0.5 CubeStack — FedAvg 3-client (global)
Federated global model: FedAvg over 3 color-pair clients, 30 rounds x 250 local steps, full fine-tune. Shared pooled-6-repo normalizer. The FL method point vs the centralized ceiling and the local-only floor.
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