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pi05_cubestack_fl_client0
DecentVLA/pi05_cubestack_fl_client0
pi05_cubestack_fl_client0 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.
Final-round local model of client 0 -- non-manuka: GreenonOrange, GreenonBlue, OrangeonBlue from the 2-client FedAvg run (examples/pi05cubestackflexplicit.yaml, 30 rounds x 250 local steps). This is the federated clie…
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Jul 13, 2026
- Updated
- Jul 13, 2026
- SHA
- b386794e
Base models
Model card
From the Hugging Face model README
pi0.5 CubeStack -- FedAvg per-client final model (c0)
Final-round local model of client 0 -- non-manuka: Green_on_Orange, Green_on_Blue, Orange_on_Blue from the 2-client FedAvg run
(examples/pi05_cubestack_fl_explicit.yaml, 30 rounds x 250 local steps). This
is the federated client's weights after its last local update -- the round-29
client state, which was aggregated into the round-30 global model
DecentVLA/pi05_cubestack_fl_2client.
What this is / is not:
- IS: the global FedAvg model adapted to this client's data for 250 local steps in the final round (uses the SHARED pooled-6-repo normalization).
- IS NOT: the from-scratch local-only baseline
DecentVLA/pi05_cubestack_local_c0(that one only ever saw this client's 3 repos, its own 3-repo normalization).
lerobot-native export (portable tokenizer, real 6-D action/state). Deploy like the
other pi0.5 CubeStack models (SO-101, cameras base_0_rgb/left_wrist_0_rgb,
--policy.compile_model=false).
Trained on Isambard-AI (GH200) with decent-vla.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jul 13, 2026
- Updated
- Jul 13, 2026