Task 000759 FLOWER VLA - B200 - step 5000

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: 5,000 of 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 are initialized for this fine-tuning setup. The compatible Florence-2 and FLOWER weights are retained.

This repository contains a full PyTorch Lightning checkpoint, including model, EMA, optimizer, scheduler, and global-step state. It is intended for offline evaluation and controlled inference integration. It does not authorize robot actuation.

Offline MAE will be added after the uploaded checkpoint is downloaded and evaluated with the fixed validation split (5%, seed 242).

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