Task 000759 FLOWER VLA - B200 - step 10000

FLOWER VLA fine-tuned on the ROBOTIS SG2 Task 000759 LeRobot v3 dataset.

Training contract

Upstream: intuitive-robots/flower_vla_calvin at acb32ee85719e51aa94139b184c64b1b29f11d33
GPU: NVIDIA B200 MIG 3g.90gb
Precision: BF16 mixed precision
Batch size: 8
Checkpoint step: 10,000
Optimizer: AdamW
Learning rate: 2e-5
State/action: 22D / 22D
Action horizon: 10
Cameras: left head, left wrist, right wrist
Dataset: 98 episodes, 10,578 frames
Validation and robot rollout: disabled during training
Base weights: official FLOWER 360000-step checkpoint

The SG2 action/proprioception heads and the six DiT layers absent from the public 12-layer checkpoint were initialized for this fine-tuning setup. The compatible Florence-2 and FLOWER weights were retained.

model.ckpt is a full PyTorch Lightning checkpoint containing model, EMA, optimizer, scheduler, and global-step state. Offline evaluation only; this repository does not authorize robot actuation.

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