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smolvla_cubestack_fl_3client
DecentVLA/smolvla_cubestack_fl_3client
smolvla_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, 50 rounds x 250 local steps, full fine-tune. Shared pooled-6-repo normalizer. The FL method point vs the centralized ceiling. Final train loss 0.0108.
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From the Hugging Face model README
SmolVLA CubeStack — FedAvg 3-client (global)
Federated global model: FedAvg over 3 color-pair clients, 50 rounds x 250 local steps, full fine-tune. Shared pooled-6-repo normalizer. The FL method point vs the centralized ceiling. Final train loss 0.0108.
lerobot-native export (portable config, real 6-D action/state).
SO-101 CubeStack, cameras camera1 (front) / camera2 (wrist), camera3 zero-filled.
Trained on Isambard-AI (GH200) with decent-vla.
Part of the 3-client SmolVLA CubeStack federated study — SAME color-pair non-IID
partition as the pi0.5 3-client study (c0=harry Green/Orange, c1=zhekai Green/Blue,
c2=kevin Orange/Blue; each client blind to the 3rd color). TRUE full fine-tune
(unfrozen VLM, no LoRA), SmolVLA LIBERO recipe (lr 1e-4, cosine, batch 32, grad-clip 10).
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Aug 15, 2026
- Updated
- Aug 15, 2026