florence-xtrainer2-pick-bottle-rel-aug-uniform

RainyBot/florence-xtrainer2-pick-bottle-rel-aug-uniform

florence-xtrainer2-pick-bottle-rel-aug-uniform is a robotics model from RainyBot. 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 starvla. The card lists the license as mit.

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At a glance

Task: Robotics
Library: starvla
License: mit
Access: Public
Created: Sep 23, 2026
Updated: Oct 4, 2026
SHA: f7f4bca9

Model card

From the Hugging Face model README

ReTime / xTrainer2 — pick_bottle (relative EEF + image aug)

Suite index: RainyBot/ReTime-xtrainer2

StarVLA Florence policy on xTrainer2 pick_bottle, relative bimanual EEF with image augmentation, 10 Hz, ~60 epochs.
Inference bundle (consolidated DeepSpeed ZeRO-3 .pt), not a transformers checkpoint.

Field	Value
Task	pick_bottle
Action	Relative EEF (`action_mode=rel`); gripper absolute
Variant	Uniform + relative + image aug
Final ckpt	`checkpoints/steps_35520.pt`
run_id	`florence-xtrainer2-pick-bottle-rel-aug-uniform`

config.yaml
dataset_statistics.json
checkpoints/
  steps_5920.pt     # ~10 ep
  steps_11840.pt
  steps_17760.pt    # ~30 ep
  steps_23680.pt
  steps_29600.pt
  steps_35520.pt    # ~60 ep (recommended)

Requirements (not in this repo)

microsoft/Florence-2-large (or local path containing florence)
StarVLA / OPTR with xTrainer2 DataConfig
pytorch3d

Action / state

Relative EEF for xyz & rotation; gripper stays absolute
Server composes relative commands to absolute poses (server_composes_relative_eef=True)
Wire 16-D xyzw; model 20-D (quat → rot6d)
Instructions must be one of the four English training sentences (see suite index)

Serve

export FLORENCE_MODEL_PATH=/path/to/Florence-2-large
bash examples/Xtrainer2/train_files/run_xtrainer2_policy_server.sh \
  /path/to/this-repo/checkpoints/steps_35520.pt \
  0 \
  10093

Sibling models

Absolute baseline: pick-bottle-uniform
pack_phone baseline: pack-phone-uniform
pack_phone residual: pack-phone-residual

Task: Robotics
Library: starvla
License: mit
Created: Sep 23, 2026
Updated: Oct 4, 2026